i

B GIO DC V O TO
I HC THI NGUYN







Nguyn Hin Trung






NG DNG L THUYT TI U RH

NNG CAO CHT LNG
CA H IU KHIN N NH H THNG IN PSS



Chuyn ngnh: T ng ha
M s: 62.52.60.01



LUN N TIN S K THUT



NGI HNG DN KHOA HC:
1. PGS.TS Nguyn Don Phc
2. PGS.TS Nguyn Nh Hin





Thi Nguyn 2012
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LI CAM OAN

Ti xin cam oan y l cng trnh nghin cu ca ring ti da trn s hng
dn ca tp th cc nh khoa hc v cc ti liu tham kho trch dn. Kt qu
nghin cu l trung thc v cha cng b trn bt c mt cng trnh no khc.
Thi Nguyn, ngy 13 thng 8 nm 2012
Nghin cu sinh




Nguyn Hin Trung


























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LI CM N

Trong qu trnh lm lun n, ti nhn c nhiu kin ng gp t cc
thy gio, c gio, cc anh ch v cc bn ng nghip.
Ti xin by t lng bit n n PGS.TS Nguyn Don Phc v PGS.TS
Nguyn Nh Hin dnh tm huyt hng dn ti trong sut thi gian qua.
Ti xin chn thnh cm n cc thy gio, c gio b mn T ng ha
Khoa in Trng i hc K thut cng nghip, cc ng nghip b mn H
thng in Khoa in Trng i hc K thut cng nghip v gia nh c
nhng kin ng gp qu bu v to cc iu kin thun li cho ti trong qu trnh
hon thnh lun n.
Ti xin chn thnh cm n Phng qun l o to sau i hc Trng i
hc K thut cng nghip; chn thnh cm n b mn iu khin t ng Vin
in Trng i hc Bch Khoa H Ni, trung tm nghin cu trin khai cng
ngh cao trng i hc Bch Khoa H Ni to nhng iu kin thun li ti
hon thnh lun n ny.

Tc gi lun n


Nguyn Hin Trung



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MC LC

LI CAM OAN ii
LI CM N iii
MC LC iv
DANH MC CC K HIU vii
DANH MC CC CH VIT TT x
DANH MC CC HNH V, TH xi
M U 1
1. Tnh cp thit, ngha l lun v thc tin ca ti 1
2. Mc ch nghin cu ca ti 2
3. i tng v phm vi nghin cu 2
4. Phng php nghin cu 3
5. Nhng ng gp mi ca lun n 3
6. Cu trc ca lun n 3
Chng 1. TNG QUAN 6
1.1. Gii thiu cu trc h thng in 6
1.2. iu khin h thng in 8
1.2.1. Nhim v iu khin HT 8
1.2.2. Cu trc iu khin HT 10
1.3. Vn dao ng gc ti trong HT 16
1.3.1. nh ngha gc ti (gc rotor) 16
1.3.2. Cn bng cng sut trong HT 18
1.3.3. Nguyn nhn gy ra dao ng gc ti 18
1.4. B n nh HT - PSS 21
1.5. Nhng vn nghin cu v PSS 22
1.5.1. Mt s phng php thit k PSS 22
1.5.2. Cc cng trnh nghin cu v PSS 25
1.6. Hng nghin cu ca lun n 26
1.7. Kt lun chng 1 27
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Chng 2. M HNH TON CA TRM PHT IN TRONG H
THNG IN 28
2.1. M hnh my pht in ng b 30
2.1.1. Phng trnh biu din trn h trc to dq0 31
2.1.2. Phng trnh vi mch t tuyn tnh 34
2.2. M hnh kch t v b iu chnh in p 36
2.3. M hnh turbine v b iu chnh tc 39
2.3.1. M hnh turbine 39
2.3.2. M hnh b iu tc 41
2.4. M hnh ca h my pht kt ni vi HT 42
2.4.1. Phng trnh rng buc in p trong h n v tng i 42
2.4.2. M hnh multitimescale ca h my pht kt ni vi HT (m hnh
bc 8) 43
2.4.3. M hnh b qua qu stator ca h my pht kt ni vi HT (m
hnh bc 6) 45
2.4.4. M hnh two-axis ca h my pht kt ni vi HT (m hnh bc 4) 47
2.4.5. M hnh fluxdecay ca h my pht kt ni vi HT (bc 3) 48
2.4.6. M men damping 50
2.5. Kt lun chng 2 51
Chng 3. PHN TCH B N NH H THNG IN PSS 52
3.1. Xy dng m hnh tn hiu nh ca h my pht kt ni vi HT 52
3.2. Phn tch nh hng ca PSS i vi n nh tn hiu nh 58
3.3. Phn tch cu trc cc PSS 63
3.3.1. PSS u vo n PSS1A 63
3.3.2. PSS u vo kp 64
3.4. Phn tch cc thnh phn trong PSS2A/2B 68
3.4.1. Tn hiu tc 68
3.4.2. Tn hiu cng sut in 69
3.4.3. Tn hiu cng sut c 69
3.4.4. B pha v la chn tn hiu n nh 70
3.4.5. Khu gii hn in p u cc 70
3.5. nh gi hiu qu ca PSS i vi n nh gc ti 71
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3.5.1. Trng hp khng s dng PSS v c s dng PSS 71
3.5.2. Trng hp s dng PSS1A v PSS2A 72
3.6. Kt lun chng 3 74
Chng 4. NG DNG IU KHIN TI U RH

THIT K PSS
TI U CU TRC 75
4.1. Chuyn bi ton iu khin n nh tn hiu nh thnh bi ton iu
khin bn vng RH

75
4.2. Thit k b iu khin bn vng RH

80
4.2.1. Khi nim c bn v l thuyt iu khin ti u RH

80
4.2.2. Cc bc thc hin bi ton iu khin ti u RH

81
4.2.3. Thit k PSS ti u RH

85
4.3. M phng b iu khin 91
4.3.1. M phng trong Matlab 91
4.3.2. M phng theo thi gian thc 93
4.4. Kt lun chng 4 97
KT LUN V KIN NGH 99
DANH MC CC CNG TRNH C LIN QUAN N LUN N 100
TI LIU THAM KHO 101
PH LC 106













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DANH MC CC K HIU

x
Cc vector bin trng thi
y
Vector u ra ca h thng
u
Vector u vo ca h thng
n n
O
Ma trn c cc phn t 0 c kch thc n n
n
I Ma trn n v c kch thc n
a, b, c
Cun dy stator mi pha
fd
Cun dy kch t
kd Cun cn theo trc d, (k=1,2)
kq Cun cn theo trc q, (k=1,2)
v
a
, v
b
, v
c

in p pha tc thi stator
i
a
, i
b
, i
c
Dng in tc thi stator cc pha a, b, c
i
fd
, i
kd
, i
kq

Cc dng in mch kch t, cun cn dc trc v
ngang trc
r
fd
, r
kd
, r
kq

Cc in tr mch rotor, cun cn
l
aa
, l
bb
, l
cc

T cm cc cun dy stator
l
ab
, l
bc
, l
ca

H cm gia cc cun dy stator
l
afd
, l
akd
, l
akq

H cm gia cc cun dy rotor v stator
l
ffd
, l
kkd
, l
kkq

T cm ca mch rotor
R
s

in tr pha phn ng (stator)
s Ton t laplace = d/dt

Gc rotor (gc ti) ca my pht (rad)
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Gc xc nh bi trc pha a v trc d (rad)
vs
u
Gc pha u ca in p trn thanh ci h thng

Tc gc ca my pht (rad/s)

0
Tc ng b (rad/s)
P
m
Cng sut c (p.u)
T
M
M men c (p.u)
P
e
Cng sut in (p.u)
T
e
M men in (p.u)
Q
e
Cng sut phn khng (p.u)
T
D

M men dammping m men dp (damping torque)
T
S

M men ng b (synchronizing torque)
K
D

H s m men damping
K
S

H s m men ng b
H Hng s qun tnh my pht (s)
+
d

T thng stator dc trc
+
q

T thng stator ngang trc
E
fd

in p kch t
V
t
in p u cc ca my pht (p.u)
V
d

in p stator dc trc
V
q

in p stator ngang trc
I
d

Dng in stator dc trc
I
q

Dng in stator ngang trc
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E
d

in p qu dc trc
E
q

in p qu ngang trc
+
kd

T thng mc vng cun cn dc trc
+
kq

T thng mc vng cun cn ngang trc
X
d
; X
d
; X
d

in khng ng b, qu v siu qu dc trc ca
my pht
X
q
; X
q
; X
q

in khng ng b, qu v siu qu ngang trc
ca my pht
X
ls

in khng khe h (stator leakage inductance)
T
d0
; T
d0
Hng s thi gian qu v siu qu d dc trc (s)
T
q0
; T
q0
Hng s thi gian qu v siu qu d ngang trc (s)













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DANH MC CC CH VIT TT


Ch vit tt Biu din Ghi ch ting anh
PSS B n nh HT Power System Stabilizer
AVR T ng iu chnh in p Automatic Voltage
Regulator
LMI Bt ng thc ma trn tuyn tnh Linear Matrix Inequalities
LFO Dao ng tn s thp Low Frequency
Oscillation
LFC iu khin tn sti Loadfrequency Control
AGC Automatic Generation
Control
HTKT H thng kch t Excitation Systems
CSTD Cng sut tc dng Active Power
CSPK Cng sut phn khng Reactive Power
FACTS H thng truyn ti in xoay chiu
linh hot
Flexible AC Transmission
Systems
HVDC Truyn ti in mt chiu cao p High Voltage Direct
Current
SVC Thit b b cng sut phn khng
tnh
Static Var Compensator
HT H thng in Power System
MBA My bin p Transformer
AC Xoay chiu
DC Mt chiu
p.u
n v tng i Per unit






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DANH MC CC HNH V, TH

Hnh 1.1. Cc phn t c bn ca mt HT 7
Hnh 1.2. Cc h thng iu khin con v iu khin lin quan ca mt trm pht
in 9
Hnh 1.3. Phn loi cc ch ca HT 10
Hnh 1.4. Cu trc iu khin HT 11
Hnh 1.5. S khi iu khin v bo v HTKT my pht in ng b 13
Hnh 1.6. iu khin tn s v phn phi CSTD trong HT 16
Hnh 1.7. c tnh cng sut ca my pht 17
Hnh 1.8. Phn loi n nh HT (nt m ch phm vi nghin cu ca lun n) 19
Hnh 1.9. Dao ng cc b 19
Hnh 1.10. Dao ng lin khu vc 20
Hnh 1.11. S khi iu khin HTKT c PSS 20
Hnh 1.12. Cu trc c bn ca PSS 21
Hnh 2.1. S khi mt my pht in ng b 29
Hnh 2.2. S my in ng b hai cc t 30
Hnh 2.3. S mch my kch t mt chiu c lp 36
Hnh 2.4. S mch my kch t t kch 37
Hnh 2.5. M hnh HTKT IEEE loi 1 [46] 39
Hnh 2.6. S khi ca h thng iu tc c kh - thy lc 41
Hnh 2.7. S khi ca h thng iu tc in t - thy lc 41
Hnh 2.8. M hnh h thng turbine v iu tc n gin 42
Hnh 2.9. S ng hc siu qu ca my pht [46] 45
Hnh 2.10. M hnh hai trc (two-axis) ca h my pht [46] 47
Hnh 2.11. M hnh ng hc flux-decay ca my pht in [46] 49
Hnh 3.1. S khi iu chnh kch t my pht ni li 52
Hnh 3.2. M hnh HTKT IEEE loi 1 vi tn hiu nh 56
Hnh 3.3. HTKT thyristor ST1A vi AVR 57
Hnh 3.4. S khi tuyn tnh ca my pht bao gm kch t & AVR 57
Hnh 3.5. p ng t nhin ca gc ti vi cc nhiu nh 59
Hnh 3.6. th vector cc thnh phn m men vi AVR 60
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Hnh 3.7. S khi tuyn tnh h my pht ni li vi kch t, AVR v PSS 60
Hnh 3.8. th vector cc thnh phn m men vi AVR & PSS 63
Hnh 3.9. S khi ca PSS1A loi u vo n 64
Hnh 3.10. S khi PSS2A (IEEE 421.5.1992) 66
Hnh 3.11. S khi ca PSS2B 66
Hnh 3.12. S khi ca PSS3B 67
Hnh 3.13. S khi ca PSS4B (Multi-band PSS) 67
Hnh 3.14. M hnh b chuyn i sai lch tc ca PSS4B 68
Hnh 3.15. Khu lc thng cao 69
Hnh 3.16. Khu lc thng cao v tch phn rt gn 69
Hnh 3.17. Cc cu hnh khu lc i vi cng sut c 69
Hnh 3.18. Khu khuch i v b pha 70
Hnh 3.19. p ng gc ti 71
Hnh 3.20. p ng tc rotor 71
Hnh 3.21. p ng sai lch tc 71
Hnh 3.22. p ng CSTD my pht P
e
71
Hnh 3.23. p ng gc ti 72
Hnh 3.24. p ng tc rotor 72
Hnh 3.25. p ng sai lch tc rotor 72
Hnh 3.26. p ng CSTD my pht P
e
72
Hnh 3.27. p ng gc ti 73
Hnh 3.28. p ng tc rotor 73
Hnh 3.29. p ng CSTD my pht P
e
73
Hnh 3.30. p ng sai lch tc rotor 73
Hnh 3.31. p ng gc ti 73
Hnh 3.32. p ng sai lch tc rotor 73
Hnh 4.1. S khi rt gn dng trong nghin cu 75
Hnh 4.2. Bi ton iu khin ti u RH

77
Hnh 4.3. th Bode ca b iu khin thit k (bc 28) 89
Hnh 4.4. th gi tr suy bin Hankel 89
Hnh 4.5. So snh th Bode ca b iu khin ban u v b iu khin gim bc
90
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Hnh 4.6. Gi tr suy bin a li ca m hnh R ban u 90
Hnh 4.7. So snh th Bode ca m hnh b iu khin ban u v b iu khin
sau khi gim bc (Rr_add v Rr_mult) 91
Hnh 4.8. p ng bc ca ba m hnh 91
Hnh 4.9. p ng sai lch gc ti Ao 92
Hnh 4.10. p ng gc ti o 92
Hnh 4.11. p ng sai lch tc Ae 92
Hnh 4.12. p ng sai lch CSTD AP
e
92
Hnh 4.13. p ng sai lch in p u cc AV
t
92
Hnh 4.14. Hnh nh ca Card iu khin R&D DS1104 93
Hnh 4.15. Thit lp cho mi trng Solver chy thi gian thc 94
Hnh 4.16. Thit lp cho mi trng Realtime workshop chy thi gian thc 94
Hnh 4.17. Mi lin h gia cc phn mm iu khin 94
Hnh 4.18. S bn thit b m phng 95
Hnh 4.19. p ng sai lch gc ti o 96
Hnh 4.20. p ng sai lch tc 96
Hnh 4.21. p ng sai lch CSTD P
e
96
Hnh 4.22. p ng sai lch in p u cc my pht V
t
96
Hnh 4.23. p ng sai lch gc ti c CPSS v PSS
Hinfi
97
Hnh 4.24. p ng sai lch gc ti c CPSS v khng c PSS 97
Hnh 4.25. p ng sai lch tc c CPSS v PSS
Hinfi
97
Hnh 4.26. p ng sai lch tc c CPSS v khng c PSS 97
Hnh PLI.1 S m phng trong Matlab (CPSS v khng PSS) 106
Hnh PLI.2 S m phng trong Matlab (PSS1A v PSS2A) 107
Hnh PLI.3 S khi ca CPSS (PSS1A) 108
Hnh PLI.4 S khi ca PSS2A 108
Hnh PLI.5 S m phng trong Matlab ca my pht in ng b ni li 109

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1


M U


K thut iu khin bn vng (robust) c ng dng cho thit k h iu
khin HT t cui nhng nm 1980. S tin li chnh ca k thut ny mang li l
mt cng c t nhin m phng thnh cng nhng trng thi khng n nh ca
nh my in. Mt s cc n lc gp phn vo vic thit k cho b n nh
HT (PSS) v/hoc cc thit b FACTS s dng khi nim H

nh trong vic a
ra cng thc thit k nhy ho ln [34], [51], tng hp [16], [44] v khi nim
H
2
trong LQG [23], [48]. Trong cc nghin cu ny rt nhiu cc mc ch iu
khin kinh in nh s suy gim nhiu lon, tnh n nh bn vng ca h thng c
nhiu c thc hin v gii quyt bng k thut tng hp H

.
Gn y xut hin thm nhiu kt qu nghin cu c lin quan n vn ny.
in hnh l ca G. N. Taranto, J. H. Chow [49] a ra b iu khin cn bng m
hnh (modelmatching), cng trnh ca Hardiansyah, Seizo Furuya, Juichi Irisawa
[23] a ra b iu khin H

, hay cng trnh ca J. H. Chow, J.J. SanchezGasca p

dng phng php gn im cc thit k PSS [17], Tuy nhin cc tc gi li
cha a ra thit k cc b iu khin p dng c rng trong cc iu kin vn
hnh, cng nh ch hn ch c s nh hng cc tn hiu ngoi sinh nh trng s
chn trc di iu kin chng phi l o c. R rng gi thit ny khng phi
lc no cng c tha mn trong thc t. Chnh v th cn thit phi nghin cu
pht trin cc h thng iu khin ny di gi thit tn hiu ngoi sinh l khng o
c hoc khng quan st c.
1. Tnh cp thit, ngha l lun v thc tin ca ti
Khi phi thit k, xy dng mt h thng iu khin bt k no , cc nh thit
k thng gp phi bi ton l b iu khin c thit k phi m bo cho h thng
c c cht lng lm vic mong mun nh n nh, tiu hao nng lng thp, tnh
bn vng cao,... trong di cng sut lm vic ln. C th thy ngay c rng yu cu
ny kh c th c p ng ch vi cc cng c iu khin c cu trc n gin
ang c s dng nhiu trong cng nghip nh b iu khin PI, PID,
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PSS l mt trong cc b iu khin hin ang c s dng trong cc nh my
in. Vit Nam, n c lp t trong cc nh my nhit in Ph Li, Ph M;
nh my thy in Thc B, Yaly v Sn La PSS c nhim v tng cng vic
gim cc dao ng tn s thp trong HT [42], [45] m rng gii hn truyn ti
cng sut v duy tr hot ng an ton ca mng li in. Tuy vy, n vn c mt
hn ch l mi b tham s iu khin ch m bo c tnh n nh cho h thng
trong mt di cng sut lm vic nht nh (nominal conditions), ngoi di cng
sut k s vn hnh bt buc phi t chnh nh li cc tham s lm vic ca
PSS. Hn th na, nhng tham s chun c gii thiu cng ch m bo c
tnh n nh khi h thng lm vic c lp v khng b cc tng tc khc ca
nhng h thng xung quanh tc ng di vai tr nh cc tn hiu nhiu ngoi sinh.
nng cao c kh nng lm vic bn vng cho cc b iu khin, hin
ngi ta vn s dng nguyn tc th cu l xy dng thm nhiu mch vng iu
khin b sung (cascade), bng cch s dng thm b iu khin PID cng nghip
[18], [50] v cc b lc leadlag [32]. Song ng tic, nh ti liu [22] ch r,
nguyn l iu khin bo th ny vn cha ng cc khim khuyt ca n v vn c
th dn ti s ph v ch tiu cht lng t ra ca h thng, chng hn nh vi s
gia tng ca cc ng dy truyn ti in di cng sut ln, cc my pht lp t
HTKT nhy cao th trong mt s trng hp, cc b iu khin trn khng m
bo c s tt dn i vi nhng dao ng trong h thng.
Gn y, l thuyt ti u RH

[2], [41], [55] c pht trin m rng kho

cng c cho cc k s iu khin thit k iu khin bn vng, cho php to ra
c cc b biu khin b sung c kh nng m rng di cng sut lm vic nh
mc cho h thng m vn m bo c vic loi b cc tc ng ngoi sinh bn
ngoi. V vy, trong lun n ny xut xy dng cu trc b iu khin mi
trn c s l thuyt ti u RH

nng cao cht lng iu khin n nh HT.
iu ny mang tnh cp thit v c ngha ln trong thc t.
2. Mc ch nghin cu ca ti
ng dng l thuyt iu khin ti u RH

nng cao cht lng iu khin

n nh HT.
3. i tng v phm vi nghin cu
i tng nghin cu ca lun n l H thng in.
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Phm vi nghin cu ca lun n c gii hn trong vic nghin cu n
nh gc ti (gc rotor) vi cc nhiu nh, cc nhiu nh ny sinh ra bi thiu m
men damping hoc thay i v ph ti hay my pht trong qu trnh lm vic. K
thut thit k b iu khin y l l thuyt iu khin ti u RH

.
4. Phng php nghin cu
Nghin cu l thuyt: Phn tch nh gi v h thng ha cc cng trnh
nghin cu c cng b thuc lnh vc lin quan: bi bo, tp ch, sch chuyn
ngnh; nghin cu cu trc v phng php la chn thng s PSS. nh gi u
nhc im cc b PSS .
Nghin cu thc tin: Nghin cu cu trc cc PSS ang lp t trong cc
nh my in hin nay Vit Nam, ri phn tch l gii so snh. Kim chng b
iu khin PSS thit k mi bng m phng trong Matlab R2010a & Simulink, sau
l m phng thi gian thc trn Card R&D DS1104. nh gi kh nng ng
dng ca b PSS mi.
Ly kin chuyn gia: Tham kho kin ca cc nh khoa hc Vin in
trng i hc Bch khoa H Ni, trung tm nghin cu trin khai cng ngh cao
trng i hc Bch Khoa H Ni; kin ca cc K s vn hnh nh my nhit
in Ph Li, thy in Sn La v nh sn xut thit b PSS ca hng ABB.
5. Nhng ng gp mi ca lun n
Lun n nghin cu mt cch h thng v PSS. ng dng l thuyt iu
khin ti u RH

thit k PSS nng cao cht lng n nh HT. B iu khin

cho thy lm vic bn vng vi nhiu so vi cc PSS thng thng. Lun n
dng chun Hankel gim bc m hnh b iu khin, gip cho vic thc hin b
iu khin RH

c tnh kh thi trong thc t.
Lun n nh gi c hiu qu ca cc loi PSS trong vn gim cc
dao ng gc rotor (dao ng c in tn s thp) ca my pht in. Kt qu ny
s gip cho cc k s vn hnh HT hiu r hn v thit k PSS theo l thuyt iu
khin ti u RH

cng nh cch ci t PSS theo cc cu trc khc.

Kt qu nghin cu ca lun n m ra kh nng ng dng RH

PSS trong
HT thc t.
6. Cu trc ca lun n
Ngoi phn m u, kt lun v kin ngh lun n gm cc chng sau y:
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Chng 1 gii thiu cu trc chung v HT; vn iu khin HT nh iu
khin in p, iu khin tn s HT; phn tch nguyn nhn gy nn dao ng gc
ti (gc rotor), tc hi ca dao ng v cch khc phc. Bin php khc phc y
l s dng PSS hot ng thng qua AVR dp tt cc dao ng c in ca my
pht in. Cui chng 1 trnh by cc vn nghin cu v PSS, bao gm cc
phng php thit k PSS nh m men damping, p ng tn s hay gi tr ring v
ma trn trng thi; cng nh phn tch cc tn ti v nghin cu cn b ng. c
bit trn nn l thuyt ti u RH

tc gi xut phng php thit k b iu

khin PSS bn vng, c tnh ti u c v cu trc v tham s, thay th cho cc b
PSS hin c.
Chng 2 ca lun n c dnh xy dng m hnh ton tng qut ca
trm pht in trong HT. C th l xy dng m hnh ton ca my pht in trn
h ta dq0. Sau l xy dng m hnh ton ca cc khi iu khin lin quan
trong trm pht in nh h thng kch t, h thng turbine v iu tc. Phn tip
theo l xy dng m hnh ton ca h my pht in khi kt ni vi HT qua
ng dy ti in. Vi gi thit l HT lm vic ch xc lp nn tnh phi
tuyn ca mch t khng phi xt n, HTKT s dng l kch t IEEE loi 1. T
, ph hp vi phm vi v thc t nghin cu tc gi la chn m hnh ton
dng trong nghin cu l m hnh fluxdecay (m hnh bc 3).
Chng 3 tc gi i su phn tch b n nh HT PSS, t so snh nh
gi hiu qu cc b PSS hin c vi nhau. Phn u ca chng c dnh xy
dng m hnh ton tuyn tnh ha xung quanh im lm vic ca h my pht
kt ni vi HT khi b nhiu lon nh tc ng, t a ra c h phng trnh
trng thi ca HT. Da trn h phng trnh trng thi v s khi xy dng
c, tc gi gii thch bn cht vt l cc thnh phn m men khi cha c AVR
v khi c AVR. Kt qu phn tch cho thy nhc im ca vic s dng AVR
nhy cao do to ra thnh phn m men damping tng theo chiu m, khin hot
ng ca my pht khng n nh. Bng vic b sung thm mt thnh phn vector
m men cng pha vi sai lch tc s khc phc c nhc im ca AVR,
thnh phn m men ny chnh l do PSS to nn. Phn tip theo ca chng 3 gii
thiu cc cu trc ca PSS theo chun IEEE 421.5.2005, phn tch cc thnh phn
trong cu trc ca PSS2A/2B. Cui chng 3 thc hin nh gi hiu qu ca PSS
i vi n nh gc ti trong hai trng hp: i) h thng khng s dng PSS v c
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s dng CPSS; ii) h thng s dng PSS1A v PSS2A. Kt qu m phng trong
Matlab v thi gian thc cho thy hiu qu kh tt ca vic s dng PSS i vi n
nh gc ti, dn n n nh tc rotor v CSTD u ra my pht. Tuy nhin,
cht lng n nh cha cao. Do , tc gi mi xut thit k b iu khin PSS
bn vng theo l thuyt ti u RH

. Pht hin ny v nhng kt qu nghin cu

trong chng 3 l mt ng gp ca lun n.
Chng 4 l chng trng tm ca lun n. Cng vic u tin c dnh cho
vic chuyn bi ton iu khin n nh tn hiu nh thnh bi ton iu khin bn
vng. T , thy c nhim v cn phi thc hin khi thit k b iu khin PSS.
Phn tip theo trnh by tng quan v l thuyt iu khin ti u v cc bc thit
k b iu khin bn vng PSS: bc mt, xc nh tp tt c cc b iu khin
(s) lm h kn n nh; bc hai, tm mt phn t R(s) trong tp (s) sao cho vi
n c c nhy cm vi sai lch m hnh AS v vi nhiu p cng nh quan h
G
pz
(s)

l nh nht. Vi cng c h tr l phn mm Matlab, tc gi tm ra

b iu khin bc 28. b iu khin c tnh kh thi trong thc t, tc gi dng
chun Hankel gim bc. Kt qu thu c l b iu khin bc 6. Phn cui ca
chng 4 dnh cho vic m phng b iu khin trong hai trng hp. M phng
trong Matlab v m phng theo thi gian thc. Tc gi dnh mt thi lng ng
k cho vic kim chng b iu khin bng m phng thi gian thc ti trung tm
nghin cu trin khai cng ngh cao trng i hc Bch Khoa H Ni. Cc kt
qu m phng cho thy b iu khin bn vng PSS c tc dng r rt i vi vic
rt ngn thi gian dao ng gc ti v h thp c bin dao ng gc ti so vi
cc b PSS truyn thng. Kt qu nghin cu trong chng ny l mt ng gp
mi v quan trng ca lun n.
Phn cui cng ca lun n l cc cng trnh cng b lin quan n lun n,
cc ti liu tham kho v phn ph lc.





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1 Chng 1. TNG QUAN
Equation Section 1
1.1. Gii thiu cu trc h thng in
Hnh 1.1 minh ha cc phn t c bn ca mt HT hin i. in nng c
to ra trm pht in (GS) v c truyn ti n h tiu th thng qua mng li
in phc tp bao gm cc ng dy truyn ti, cc MBA, cc thit b ng
ctTa c th phn mng li in thnh cc h thng nh sau:
H thng truyn ti
H thng truyn ti trung gian
H thng phn phi
H thng truyn ti lin kt tt c cc trm pht in chnh vi cc trung tm
ph ti trong h thng. N to ra xng sng ca HT hp nht v hot ng cc
cp in p cao nht (in hnh l 220kV v cao hn). V in p u ra ca my pht
thng trong khong t 10,5 n 35kV, nn nhng in p ny s c nng ln cao
bi MBA trc khi truyn ti i xa n cc trm truyn ti trung gian, ti y in p
c h xung cp in p truyn ti trung gian (thng l 69kV n 138kV).
H thng truyn ti trung gian truyn nng lng in vi cng sut nh hn
t cc trm truyn ti n cc trm phn phi. Cc h tiu th in ln cng nghip
c cung cp in trc tip t h thng truyn ti. mt s h thng, khng c
ranh gii r rng gia mng in truyn ti v mng truyn ti trung gian.
H thng phn phi tng trng cho giai on cui trong vic truyn ti in
nng ti cc h tiu th ring l. in p phn phi s cp thng nm trong
khong 6kV n 35kV. Cc h tiu th in cng nghip nh c cung cp in
trc tip t cc ng dy cp in p ny. Cc h tiu th in sinh hot v
thng mi th tiu th pha th cp MBA vi in p 380/220V.
Cc trm pht in nh t gn ph ti thng c kt ni trc tip ti h
thng truyn ti ph hoc h thng phn phi. Cn s lin kt gia cc HT gn
nhau thng c thc hin cp h thng truyn ti.
HT nh m t trn y to nn s phc tp v cu trc cng nh tin
cy,... Mt mt, HT ny cho php khai thc ti a cc u im vn hnh kinh t
(phi hp vi cc ngun thu nhit in, ti u ho cng sut ngun); cho php
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h thng chng li c cc s c bt thng m khng lm gin on vic cung
cp in cho cc h tiu th. Mt khc, l tin thun li cho vic pht trin cc
ngun in cng sut ln v vic u ni vo h thng. Tuy nhin, cng lm ny
sinh vn v n nh HT [5], [30].

GS
GS
Ph
ti
cng
nghip
Trm pht
in nh
Ph ti cng
nghip
Ph ti thng mi Ph ti sinh hot
500kV 500kV
220kV
22kV
15,75kV
500kV
500kV
220kV
ng dy trung p
380/220V
110kV
Trm phn
phi
110kV
6/10/22kV
Trm truyn ti
Kt ni vi HT
bn cnh
H

t
h

n
g

t
r
u
y

n

t

i

5
0
0
k
V

H

t
h

n
g

t
r
u
y

n

t

i

2
2
0
k
V

220kV
0,4kV
22kV
Hnh 1.1. Cc phn t c bn ca mt HT
T

n
g

d

y

t
r
u
y

n

t

i

t
r
u
n
g

g
i

n
g

d

y

t
r
u
y

n

t

i

t
r
u
n
g

g
i

n

K

t

n

i

v

n
g

d

y

b

n

c

n
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1.2. iu khin h thng in
1.2.1. Nhim v iu khin HT
Chc nng ca mt HT l bin i nng lng t mt dng t nhin sang
dng in v truyn ti n cc im tiu th. S tin li ca nng lng in l d
truyn ti v iu khin vi hiu sut v tin cy cao. Trong qu trnh vn hnh
HT cn m bo cc yu cu sau y:
1. H thng phi c kh nng p ng mt cch lin tc vi s thay i nhu cu ti
CSTD v CSPK. Khng ging nh cc dng nng lng khc, in nng khng
th tch tr vi dung lng ln c. Bi vy, rt nhiu thit b v b iu khin
c s dng duy tr cn bng cng sut tiu th v cng sut pht.
2. Cht lng in nng phi m bo cc tiu chun sau y:
Tn s h thng khng i
in p nt khng i
Hnh 1.2 m t mt s khi iu khin ca mt trm pht in trong HT.
Trong mi khi iu khin my pht c cha khi iu tc v khi iu khin kch
t. Khi iu tc c nhim v iu chnh tc v iu khin mt s bin cung cp
nng lng nh p sut hi, nhit v lung nng lng. Chc nng ca khi iu
khin kch t l iu chnh in p v CSPK u ra my pht.
Mc ch ca h thng iu khin my pht l cn bng cng sut pht vi
cng sut ti cng cc tn tht. Bi vy, tn s v CSTD c quan h mt thit
vi nhau.
H thng iu khin ng dy truyn ti bao gm cc thit b iu khin
cng sut v in p, nh thit b b tnh SVC, my b ng b, t in,
khng in ng ct, b iu p MBA, MBA dch pha v cc thit b iu
khin ng dy HVDC. Mc ch l duy tr in p, tn s cng nh cc
thng s khc ca h thng nm trong gii hn cho php.
Cc h thng iu khin m t trn y gp phn tho mn s lm vic ca
HT. Chng c nh hng ng k n c tnh ng hc ca h thng v kh
nng i ph vi cc nhiu lon.
Cc mc ch iu khin c da trn ch lm vic ca HT. Trong cc
iu kin bnh thng, mc ch iu khin l m bo in p v tn s gn vi
gi tr nh mc. Khi pht sinh iu kin khc thng, mc ch iu khin l a
h thng v ch bnh thng.
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Da vo [30], [31], c th phn loi ch ca HT ra cc loi sau y: bnh
thng, cnh bo, nguy him, s c v phc hi sau s c. Hnh 1.3 m t cc ch
ny v phng thc tc ng gia chng.
Trong ch bnh thng, tt c cc thng s ch h thng nm trong
phm vi nh mc v khng c thit b no b qu ti. H thng lm vic an ton v
c kh nng tr vng vi nhng bin c ngu nhin m khng vi phm bt c rng
buc no.
iu -
K hoch
sn xut
H thng
kch t v
iu khin
My pht
Khi iu khin
my pht
Dng in
kch t
K
h

u

k
h
i

n

m

y

p
h

t

k
h

c

v

u

k
h
i

n

l
i

n

q
u
a
n

Cng sut trc

iu khin ng dy ti in
Tn s
Trao i
cng sut
Cng sut
my pht
Tc /cng sut
in p
H thng iu khin my pht
Tn s
Trao i
cng sut
Cng sut
my pht
Tc
Hnh 1.2. Cc h thng iu khin con v iu khin lin quan
ca mt trm pht in
iu tc v
iu khin
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Nu mc an ton di
gii hn chc chn, hoc khi h
thng chu mt nhiu lon gia tng
do iu kin thi tit (bo), th h
thng ri vo ch cnh bo.
ch ny, tt c cc bin ca h
thng vn cn nm trong gii hn
cho php v cc rng buc vn cn
c tha mn.
Khi h thng ch cnh
bo, nu xy ra nhiu ln th h
thng ri vo ch nguy him. ch ny, in p nhiu thanh ci gim thp
v/hoc thit b b qu ti. H thng vn c th duy tr v c th quay tr v ch
cnh bo bng cc bin php iu khin khn cp nh: loi tr s c, iu khin
kch t, ng m van nhanh,
Nu cc bin php trn khng c s dng hoc khng c hiu qu, th h
thng s b s c, hu qu l lm s c lan rng v c th sp h thng. Cc hot
ng iu khin nh xa thi ph ti v iu khin h thng b phn tch hon ton.
Ch phc hi sau s c c th hin bng hot ng iu khin ti kt ni
li tt c cc iu kin thun li v khi phc li ti h thng. H thng c chuyn
t ch ny sang ch cnh bo, ch bnh thng c hay khng l cn ty
thuc vo iu kin lm vic thc t ca h thng.
Cc ch h thng phn loi nh trn cung cp khun kh cho cc chin
lc iu khin gip cho cng tc vn hnh HT c hiu qu.
1.2.2. Cu trc iu khin HT
Hnh 1.4 l s cu trc iu khin HT, phn chia lm hai khi: cc b
iu khin lp t pha nh my in v cc b iu khin lp t pha ng dy
truyn ti in:
Khi iu khin pha nh my c hai b phn c bn: mt l iu khin tn s
ti (LFC) hay iu tc turbine, dng gi tn s ca my pht gi tr nh
mc (50Hz), mt b phn quan trng khc l h thng iu khin kch t. B
phn LFC khng nhanh ci thin n nh ca h thng, v hng s thi
S c
Nguy him
Cnh bo Phc hi
Bnh thng
Hnh 1.3. Phn loi cc ch ca HT
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gian ca n ln; cn iu khin kch t c th hot ng rt nhanh v hng s
thi gian ca n rt nh.

Trong khi HTKT dng ci thin n nh cho my pht ng b, th cc thit
b FACTS [9] dng n nh cc dao ng trn cc ng dy truyn ti
in. FACTS c nh ngha l vic s dng k thut in t cng sut ln
in p cao, vi cc b vi x l, cc thit b vi in t iu khin HT.
FACTS c thit k vt qua cc gii hn v mt c kh ca ng dy
truyn ti in xoay chiu. FACTS gp phn gia tng kh nng truyn ti,
kh nng iu khin cng sut v dp tt cc dao ng trong HT [9], [40].
Ngoi cc khi iu khin nu trn, trong HT Vit Nam cn c trung tm
iu HT quc gia (A0), di l cc iu min Bc, min Nam v min
Trung ch huy vn hnh HT p ng yu cu sn xut v tiu th in nng.
Sau y ta s phn tch phng php iu khin hai thng s quan trng ca
ch h thng in l in p v tn s.
1.2.2.1. iu khin in p
a) Gii thiu chung
iu khin in p ngi ta thc hin iu khin vic sn xut, tiu th
CSPK tt c cc cp trong HT. Cc my pht l phng tin c bn iu
khin in p, trong vic iu khin dng in kch t thng qua AVR s duy tr
c in p u cc cc my pht in. Cc phng tin thm vo iu khin
in p c th phn loi nh sau:
Ngun CSPK, nh t b ngang, khng b ngang, my b ng b v SVC
B khng ng dy, nh t b dc
MBA iu chnh, nh MBA c iu chnh in p di ti v MBA tng p
Pha nh my in
Hnh 1.4. Cu trc iu khin HT
Cc b iu iu khin HT
Pha tryn ti in
Turbine
iu khin tn s ti (LFC)
(chm)
Kch t,
AVR (nhanh)
FACTS
(nhanh)
B iu khin c kh
(chm)
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HTKT (bao gm kch t v AVR) l mt trong cc h thng thit b quan
trng nht quyt nh n s lm vic an ton ca my pht in. N c nhim v
cung cp dng in mt chiu cho cun dy kch t ca my pht in ng b.
Khi my pht cha ni vo li in, vic thay i dng in kch t ch thay
i in p u cc my pht. Tuy nhin khi my pht in c ni vo li in c
cng sut rt ln so vi my pht, vic tng gim dng kch t hu nh khng lm
thay i in p li. Tc dng ca HTKT khi l iu khin CSPK ca my pht.
t ng iu chnh dng kch t ca my pht in ng b, ngi ta s
dng h thng t ng iu chnh kch t c b phn iu khin chnh l thit b t
ng iu chnh in p AVR. Thit b ny c nhim v gi cho in p u cc
my pht l khng i (vi chnh xc no ) khi ph ti thay i v nng cao
gii hn truyn ti cng sut ca my pht vo HT, c bit khi my pht c
ni vi h thng qua ng dy di. Nhng yu cu chung vi h thng t ng
iu chnh kch t l: m bo n nh tnh (vi nhiu nh) v nng cao tnh n nh
ng (vi nhiu ln); cn c ch kch thch cng bc khi my lm vic ch
s c (nh ngn mch trong li)
Hiu qu thc hin cc nhim v nu trn ph thuc vo c trng v thng s
ca HTKT [13], [27].
b) Phn loi kch t
Kch t c th chia ra cc loi sau y [13], [27]:
Kch t mt chiu loi DC
Kch t xoay chiu loi AC
Kch t tnh loi ST
c) Chc nng iu khin v bo v ca HTKT
Mt HTKT hin i c nhiu chc nng hn b iu chnh in p thng
thng. Bao gm iu khin, gii hn v bo v m c cp trong cc yu
cu ca HTKT. S khi giao tip cc b phn chc nng ny c trnh by
hnh 1.5. Mt HTKT c th ch bao gm mt vi hoc tt c nhng chc nng ny,
tu thuc vo yu cu ca tng ng dng c th v loi my kch t.
V l thuyt, mi chc nng iu khin iu chnh mt i lng ty theo yu
cu c th, chc nng gii hn m bo chc chn cc i lng khng vt qu tr
s t. Nu bt c b gii hn no b s c, chc nng bo v s loi b chnh xc
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phn t hoc cc b phn c lin quan ra khi h thng. Sau y ta s lm r cc
chc nng iu khin v bo v y.

B iu chnh AC v DC
Chc nng c bn ca b iu chnh AC l duy tr in p stator my pht.
Ngoi ra cn c chc nng bo v v iu khin ph khc iu khin in p
kch t my pht.
Chc nng b iu chnh DC l gi cho in p kch t my pht khng i v
thng thc hin bng tay. Trong mt vi HTKT, im t c hiu chnh t
ng, v vy lm cc tiu lch in p.
B b ti (b to c tuyn)
Bnh thng, chc nng ca AVR l iu khin in p u cc my pht.
Trng hp ny, c tnh iu chnh in p my pht l ng khng ph thuc
vo ti my pht v c gi l c tnh c lp. i khi, b b ti c s dng
iu khin in p ti mt im bn trong hoc bn ngoi my pht. thc hin
B iu
chnh AC
My kch t
Gii hn qu
kch t
Gii hn thiu
kch t
B gii hn
v bo v
V/Hz
Mch
dit t
My
pht
B iu
chnh DC
Cm bin
in p
T

i

H
T

in p t
AC
in p t
DC
AVR
Hnh 1.5. S khi iu khin v bo v HTKT my pht in ng b

Cm bin in p v b
b ti (to c tuyn)
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iu ny ngi ta s dng thm mt mch u vo AVR nh hnh 3.15. Trng
hp ny, c tnh iu chnh in p l ng thng dc ln hoc dc xung, gi l
c tnh ph thuc dng hoc m [6], [30]. B b c iu chnh nh in tr R
C

v in cm khng X
C
. S dng tr khng ny v dng in phn ng s thay i
c in p ging thm vo hoc bt i in p u cc my pht. Gi tr in
p b a n AVR c tnh nh sau: ( )
C t c c t
V V R jX I = + + , r rng vi gi tr
dng ca R
C
v X
C
in p ging s c thm vo in p u cc my pht,
B gii hn thiu kch t (UEL-under excitation limiters)
B gii hn thiu kch t dng ngn chn s gim kch t ca my pht ti
mc m gii hn n nh tn hiu nh hoc gii hn nhit li stator b vt qu.
Tn hiu iu khin ca b gii hn thiu kch t c ly t s kt hp hoc
l in p v dng in, hoc l CSTD v CSPK ca my pht. C nhiu cch b
sung chc nng thc hin ca b gii hn thiu kch t. Mt s hot ng theo tn
hiu sai lch in p ca b AVR, khi b gii hn khi ng, mt phn t khng
tuyn tnh (diod) bt u cho ra tn hiu, v kt hp vi cc tn hiu iu khin khc
ca HTKT.
S ci t c tnh ca b gii hn thiu kch t s t nn tng cho bo v
nh bo v h thng mt n nh hoc l cun dy stator pht nng. Ngoi ra c
tnh ca b gii hn cn c phi hp vi b bo v mt kch t my pht. c
tnh ca b gii hn cn thng s dng kt hp vi tnh ton n nh tn hiu nh
v c tnh rle chng mt kch t.
B gii hn qu kch t (OEL- over excitation limiters)
Mc ch ca b gii hn qu kch t l bo v my pht khng b qu nhit do
qu dng kch t.
Hin nay, vic b sung chc nng gii hn qu kch t thay i tu thuc vo
hng sn xut v chc nng c th. Chc nng c trng ca b gii hn qu kch t
l pht hin ra dng kch t cao, sau thi gian tr n tc ng thng qua b iu
chnh AC nhm lm gim dc kch t n gi tr t trc (khong 100 110%
dng kch t nh mc). Nu khng c n s ct b iu chnh AC, chuyn iu
khin n b iu chnh DC v xc nh li im t mt gi tr p ng tng
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15

ng vi tr s nh mc. Nu iu ny cng khng lm gim kch t n mt gi tr
an ton th b gii hn s tc ng ct my ct kch t v ct my pht.
B gii hn V/Hz v bo v
Nhng mch ny c s dng bo v my pht v MBA tng p khng b
h hi do vt qu dng t ho l kt qu ca tn s thp v qu in p. Dng t
ho vt qu lin tc l nguyn nhn dn n s qu nhit. Hu qu, c th lm h
hi MBA v cun dy my pht. T s ca in p tng i v tn s tng i
c xem nh volts chia cho hertz (V/Hz) c th o lng c bng i lng t
l vi dng t ho. Gi tr V/Hz thng nm trong khong (1,05-1,25) [30].
Mch dit t
Bnh thng, b chnh lu khng dn theo chiu ngc li, nn dng in ca
b kch t khng th m nh trng hp ca kch t AC v kch t tnh. Trong
trng hp u cc my pht b h hng v h thng b ngn mch, dng cm ng
trong cun kch t c th m. Nu dng in ny khng c ng thot th in p
tng rt cao c th to ra mch t mc song song. V vy, mt mch in ring
bit c cung cp lm nhnh r cho php dng kch t m thot qua. y l mt
hnh thc ni tt t trng, nn thng c bit n qua b dp t trng hoc
in tr bin i [30].
1.2.2.2. iu khin tn s
Qu trnh iu khin tn s gn lin vi iu khin tc ca my pht in
ng b. Tn s ca h thng c m bo da trn s cn bng CSTD. Trong h
thng c nhiu t my, nhiu nh my in nn cn c s phn phi cng sut gia
cc t my vi nhau. B iu chnh tc turbine (governor) ca mi my pht lm
chc nng iu chnh tc s cp, trong khi b iu khin th cp lm nhim v
phn phi cng sut (AGC) [6], [30].
Tn s l mt trong nhng tiu chun nh gi cht lng in nng. lch
tn s khc vi lch in p ch l tt c cc im ang lm vic ng b ca
h thng l ging nhau. S thay i tn s xy ra do s mt cn bng cng sut tng
ca turbine v ph ti ca my pht, iu ny c m t bi phng trnh (1.2).
R rng khi tng hoc gim ph ti hay khi s c t my s xut hin mt cn
bng cng sut dn n thay i tn s trong h thng. Tn s c iu chnh bng
e
B
o
o
k

f
o
r

Y
o
u
16

cch thay i lng hi nc (nc) a vo turbine my pht. Nh vy vic iu
chnh tn s trong HT lin quan mt thit vi iu chnh CSTD gia cc t my
v nh my in.
Trong h thng lin kt c hai hay nhiu khu vc iu khin c lp nhau, ngoi
b iu khin tn s ngun pht trong mi khu vc cn phi iu khin duy tr
lng cng sut gia cc khu vc theo k hoch nh trc. iu khin ngun pht
v tn s thng thng c bit n vi thit b iu khin tn sti (LFC).

S iu khin tn s v phn phi CSTD t ng trong HT c m t
nh hnh 1.6. Ngy nay, cc thit b t ng iu khin cho php duy tr tn s h
thng kt hp phn b kinh t cng sut gia cc t my ni song song, ng thi
iu khin dng cng sut cn thiu ht gia HT v nh my.
1.3. Vn dao ng gc ti trong HT
1.3.1. nh ngha gc ti (gc rotor)
c tnh quan trng ca HT l mi quan h gia cng sut v v tr gc ca
rotor. minh ha iu ny chng ta hy xt mt HT n gin cho trn hnh 1.7a.
Bao gm my pht ng b kt ni vi HT qua ng dy ti in c in khng
l X
e
.
Gc ti (gc rotor) o l gc gia vector sc in ng bn trong
g
E do t
thng dng in kch t sinh ra vi vector in p trn thanh ci u cc
t t
V V u = Z .
Thay i tc

HT iu khin
turbine s cp
Van hay cng
cnh hng
My pht
B iu khin
th cp (AGC)
Ti, HT truyn ti,
cc t my khc
Nng lng
s cp
Cng sut truyn ti trn ng dy
Hnh 1.6. iu khin tn s v phn phi CSTD trong HT

Turbine
Tc
e
B
o
o
k

f
o
r

Y
o
u
17

Hnh 1.7b l s thay th l tng ( b qua in tr v in dn cc phn
t) xc nh mi quan h gia cng sut vi gc. Hnh 1.7c biu din th
vector pha gia my pht v h thng. ch xc lp cng sut u ra ca my
pht cho bi [30], [39]

sin
g t
e
g
EV
P
X
o =
(1.1)

p ng ca mi quan h cng sut v gc o c biu din nh hnh 1.7d.
Vi cc m hnh c l tng ho s dng biu din my pht ng b (nh
gi thit), th s thay i cng sut theo gc o c dng hnh sin. Cn vi cc m
hnh my pht i hi s chnh xc cao nh xt n nh hng ca qu trnh in
t, th mi quan h cng sut gc c th lch khi dng sin, tuy nhin dng chung l
ging nhau. Khi gc bng khng, cng sut bng khng. Nu gc tng, cng sut
truyn ti s tng ti gi tr cc i thng c m bo bng 90
0
, sau nu gc
tip tc tng cng sut s gim. Cn tip tc tng gc na s dn ti mt n nh.
V
t

E
g

o
IX
e

c) S vector
V
S

IX
g

o
P
P
max

d) c tnh cng sut - gc
G
X
e
ng dy X
g

HT
g
E a) S HT
b) S thay th l tng
I
t t
V V u = Z

0
S S
V V = Z
90
0

Hnh 1.7. c tnh cng sut ca my pht
180
0

0

P
m

I
a
im lm vic
e
B
o
o
k

f
o
r

Y
o
u
18

1.3.2. Cn bng cng sut trong HT
Trong qu trnh vn hnh, khi b nhiu lon bi s thay i t ngt, tc v
cng sut ca my pht s bin i xung quanh im vn hnh. Mi quan h ny c th
c biu din bi phng trnh chuyn ng sau y (trong h n v tng i) [30]:

2
2
0
2
M e
H d
T T
dt
o
e
=
(1.2)
trong :
o gc rotor (rad)
0
e tc gc ca rotor, gi tr c s hoc gi tr nh mc bng
0
2 f t rad/s
T
M
m men c (p.u)
T
e
m men in (p.u)
H hng s qun tnh ca my pht (MWs/MVA)
Theo (1.2), ch xc lp ca HT, c s cn bng gia m men c u
vo v m men in u ra ca mi my pht ( )
M e
T T = v gc ti, tc rotor duy
tr l hng s. Nu h thng b xo trn, im cn bng s b thay i, kt qu lm
cho rotor b tng tc hay gim tc so vi tn s h thng, khin hot ng ca my
pht c th khng n nh.
1.3.3. Nguyn nhn gy ra dao ng gc ti
Khi c ti yu cu n mt trm c nhiu t my, b phn phn phi cng sut
(AGC) s lm nhim v phn cng sut cho cc t my hng ti s cn bng.
Tuy nhin do ng hc ca mi my pht l khc nhau, gy nn cc lung cng sut
trao i trong ni b trm pht, hoc gia my pht vi h thng qua ng truyn.
Nhng tc ng xen knh ny khin cho rotor my pht dao ng xung quanh im
lm vic.
Mt ngun khc gy nn dao ng gc ti l vic s dng cc b kch t p
ng nhanh vi AVR h s khuch i ln c tc dng ci thin gii hn n nh tnh
v n nh ng, nhng li lm gim thnh phn m men damping, gy bt li vi
n nh tn hiu nh [11].
Tc hi ca dao ng:
e
B
o
o
k

f
o
r

Y
o
u
19

Khi gc ti dao ng khin tc rotor khng cn l tc ng b na, gc
ti c th vt qu 90
0
in
(hnh 1.7d), lm cho hot
ng my pht b mt ng
b, trong trng hp khng
c khng ch kp thi,
n rt c th b cng hng
vi nhng dao ng khc
gy nn mt ng b
nghim trng gia cc my
pht v li in thm ch
gy tan r HT.
Cch tip cn nghin cu n nh:
Trong cch phn loi n nh HT nh hnh 1.8 [30], [31], th n nh gc ti
chia ra lm hai loi v y ta ch xem xt bi ton n nh tn hiu nh (nhiu lon
nh). Cc nhiu lon ny c coi l nh cho php ta c th s dng phng
trnh tuyn tnh ca h thng phn tch n nh.
L thuyt n nh tn hiu
nh c dng nhn dng v
phn tch cc dao ng c in
(dao ng tn s thp) trong
HT. Cc dao ng ny lm
cho gc rotor ca my pht tng
ln hoc gim i so vi im
lm vic v l nguyn nhn ca s thiu m men ng b hoc m men damping
[7]. Dao ng tn s thp gm c cc dng sau y [42], [45]:
- Cc dao ng cc b: Nhng dao ng ny thng lin quan n mt hoc nhiu
my pht ng b quay vi nhau ti mt nh my in so vi mt HT ln hay
trung tm ph ti. Tn s dao ng trong khong 0,72Hz. Nhng dao ng ny
gy phin toi khi nh my ti cao vi h thng ng truyn c in khng ln.
- Cc dao ng lin khu vc: Nhng dao ng ny thng lin quan n vic kt
hp rt nhiu my pht ti mt phn ca HT i vi phn khc ca HT thng
qua ng truyn yu. Tn s cc dao ng lin khu vc thng nh hn 0,5 Hz.
n nh H thng in
n nh gc ti
n nh in p
n nh qu
(nhiu ln)
Hnh 1.8. Phn loi n nh HT (nt m ch
phm vi nghin cu ca lun n)
n nh tn s
n nh tn hiu
nh (nhiu nh)
E
g

X
e
X
g

0,7-2Hz
Hnh 1.9. Dao ng cc b
e
B
o
o
k

f
o
r

Y
o
u
20


- Cc dao ng ton cu: Nhng dao ng ny lin quan n nhiu HT ln kt
ni vi nhau trn din rng. Tn s dao ng nh hn 0,2Hz.

Vic iu khin dp dao ng c thc hin thng qua HTKT. Trong my
pht in ng b ngi ta cng b tr cc vng dy ngn mch trn rotor (cun
cn), tiu tn nng lng dao ng v lm cho cc dao ng ca my pht tt
nhanh hn. Tuy nhin vic lm ny khng th trit tiu ht cc dao ng. Gii php
B iu chnh
AC
My kch t
Gii hn qu
kch t
Gii hn thiu
kch t
B gii hn
v bo v
V/Hz
Mch
dit t
My
pht
B iu chnh
DC
Cm bin
in p
PSS
T

i

H
T

in p
t AC
in p
t DC
AVR
Hnh 1.11. S khi iu khin HTKT c PSS
Cm bin in p v b
b ti (to c tuyn)
E
g1

X
e
X
g1

X
g2

E
g2

0,5Hz
Hnh 1.10. Dao ng lin khu vc
e
B
o
o
k

f
o
r

Y
o
u
21

cho vn ny l s dng thit b n nh HT PSS hot ng thng qua cc b
iu chnh in p AVR, c s ni vo h thng iu khin nh hnh 1.11.
1.4. B n nh HT - PSS
Nhim v ca PSS l c lng dao ng ( ) t o A gi tn hiu in p
PSS
V tc
ng ln mch kch t to ra mt thnh phn m men in t dp dao ng .
Thay v phi o trc tip gc ti, ngi ta thng o bin thin tc rotor ( ) t e A
v/hoc cng sut in my pht ( )
e
P t ng tr vi ( ) t o A ri ly hai tn hiu
lm u vo cho PSS.
ci thin s tt dn cc dao ng, PSS phi to ra thnh phn m men in
cng pha vi sai lch tc rotor e A . Hn na, PSS phi c mch b pha thch
hp b vo s tr pha gia u vo kch t v u ra m men in t.
Theo chun IEEE 421.52005 [27], PSS chia ra: PSS1A y l loi c mt
u vo nh sai lch tc e A , sai lch tn s f A , cng sut in
e
P ; PSS u
vo kp, thng l sai lch tc e A v cng sut in
e
P (PSS2A, PSS2B,
PSS3B v PSS4B).

Hnh 1.12 l s khi c bn ca mt PSS s dng trong HT. N bao gm
khu lc washout, khu b lead-lag, khu lc xon v khu gii hn. Cu trc c
bn ca mt loi PSS da trn tn hiu tc thng gm c:
o tc u trc bng cch dng mt cc t v cch b tr bnh rng.
Chuyn i tc o c sang dng in p mt chiu t l vi tc .
Khu lc thng cao loi b mc tc trung bnh, iu ny m bo rng
PSS ch phn ng vi nhng thay i trong tc m khng thay i in p
t u cc my pht.
p dng vt pha to ra tn hiu b chm pha trong mch vng iu khin
in p.
iu chnh h s khuch i ca tn hiu cui cng a n u vo AVR.
w
w
1
sT
sT +

Khu lc
( ) FILT s
Khu lc xon Khu gii hn
Hnh 1.12. Cu trc c bn ca PSS
( ) T s
Khu b
lead-lag
e
B
o
o
k

f
o
r

Y
o
u
22

Cu trc ca PSS kp vi hai u phn hi [8], [27], [32] s c phn tch chi
tit chng 3. Tu chung ca tt c cc PSS hin ang s dng l c cu trc
cng vi nhng tham s c chn t do v thng khng nht qun. Mi hng sn
xut c mt lun im ring kh phc tp v vic chn nhng tham s ny.
1.5. Nhng vn nghin cu v PSS
1.5.1. Mt s phng php thit k PSS
Trong thc t cc my pht in tc ng vi nhau thng qua in p v dng
in, nh hng ng hc ca cc my l khc nhau. Do phi xem xt mt cch
c th khi thit k PSS, iu ny c bit n ging nh vic phi hp iu chnh
ca PSS trong h thng c nhiu my pht. Mt cch tng qut chng u tp trung
vo cc phng php nh: m men damping, p ng tn s hay gi tr ring v ma
trn trng thi. Sau y l mt s k thut s dng kt hp cc phng php tip
cn ny [12].
1.5.1.1. Phng php tip cn m men damping
Khi s dng phng php ny chng ta phi tm cc h s
1 6
K K ca m
hnh Heffron Phillips [25], cng nh s nh hng ca cc my pht khc tc
ng ln mt my c th, vic tnh ton bng cch b sung thm m men lm gim
s dao ng c gi l m men damping. Trong di tn s rng, l thuyt phn
tch tn hiu nh c s dng kim tra dao ng tt dn ca mi my pht.
thc hin c, trc tin chng ta phi tm hm truyn ( ) ( ) ( ) /
vi ei ssi
H s T s V s = A A
gia in p u vo v m men in u ra ca tng my pht. nh hng ca
thay i tc ti m men in c m hnh ha thng qua hai hm truyn: mt
l thng qua gc ti ging nh nh hng ca s thay i in p thng qua mng
( ) ( ) ( ) /
i ei i
H s T s s
o
o = A A ; hai l thng qua tc u vo PSS, biu din
bi ( ) ( ) ( ) /
i ei i
H s T s s
e
e = A A .
Vi ba hm truyn trn, bin gc quay v tc ca ( )
vi
H s phi c gi
khng i, iu ny c th thc hin bng cch to ra hng s qun tnh ca my
pht ln. Trong vic lp ma trng thi, cn quan tm n sai lch tc
i
e A ca tt
c cc my pht ging nh u vo, bng cch b i mt hng ca ma trn trng
thi A tng ng vi phng trnh vi phn tuyn tnh di chuyn i ct tng ng
vi bin trng thi tc vector u vo. Khi chng ta c th kim tra nh
e
B
o
o
k

f
o
r

Y
o
u
23

hng ca m men in ( )
ei
T s A ca my pht th i, coi nh nhiu trong tc ca
cc my pht khc
j
e . iu cng mang li kh nhiu thng tin ca s tc ng
ln nhau gia hai my pht nhng di tn s khc nhau. Khi khng c PSS, hm
truyn ( )
i
H s
o
thng qua gc quay ca rotor cung cp mt m men lm gim s dao
ng, nhng gi tr m men ny rt nh nn khng th dp tt dao ng c.
i vi nhng my pht quan trng yu cu phi c PSS, hm truyn
( )
i
H s
e
mang thng tin ca PSS khi kt ni n trong h thng s cung cp m men
ngc vi m men dao ng, thng qua gc rotor trong hm truyn ( )
i
H s
o
. Phn
thc dng ca ( )
ij
H s
e
tc l m men to ra my pht th i cho dao ng my
pht th j.
u im ca phng php ny l n gin, v h s khuch i c chn, cc
tham s khc ca PSS nh: khu lc thng cao, khu b pha,tnh ton d dng, ng
thi h s khuch i K
PSS
c th c iu chnh thch hp thng qua di tn s.
Nhng c nhc im l khi phn tch gi tr ring ca dao ng cc b v
dao ng lin khu vc mch vng kn th s khng y , nn khi iu chnh h
s khuch i gp nhiu kh khn khin gc ti vn c th dao ng.
1.5.1.2. Phng php tip cn p ng tn s
Phng php tip cn p ng tn s c bit n, bi nhiu tc gi
nghin cu thit lp cc tham s ca PSS. Trong k thut Nyquist c p
dng thit k b iu khin phn hi tc v cng sut cho h s khuch i.
Ni dung ca phng php l lp i lp li cc iu kin hot ng khc nhau
v h s khuch i c chn t khong trn. Mc ch chnh l xem xt c tnh
pha ca mt PSS, m hnh ha s tr pha ca hm truyn ( )
PSS
G s , phn hi mt
cch chnh xc cc pha tr trong hm truyn ca HTKT. Vi h thng nhiu my
pht, cc tham s ca khi tr pha v h s khuch i c c bng cch thit lp
cc phng trnh phi tuyn. tnh c cc tham s ta phi thit lp ba
phng trnh phi tuyn, c gii bng phng php Newton.
u im ca phng php ny l c th b pha mt cch chnh xc, h s
khuch i c xem xt trong trng hp c nhiu trong thc t.
Nhc im ca phng php l vic gii phng trnh phi tuyn s gp kh
khn, v phi lp th qu o nghim xt xem h c n nh hay khng, t
e
B
o
o
k

f
o
r

Y
o
u
24

tm cc h s cng gp nhng kh khn nht nh. gii quyt kh khn ny ta s
dng phng php gi tr ring v bin trng thi.
1.5.1.3. Phng php tip cn gi tr ring v bin trng thi
Phn tch gi tr ring l phn chnh ca cc nghin cu lin quan n n nh
tn hiu nh. Phng php ny c s dng rng ri trong vic iu chnh v phn
tch s lm vic ca PSS trong h thng c nhiu my pht. Tnh nng ca gi tr
ring c kt lun chung chung, nhng n khng b gii hn bi s phc tp ca
m hnh.
c PSS, ta s to ra mt cu trc iu khin
( ) ( )
ij ij PSSij
G s k H s = m s
lin kt u ra th j vi u vo th i ca h thng
( )
ij
G s . Gi thit rng, nh my
b tc ng vi kiu dao ng c in
h
. nhy ca gi tr ring ngha l khi
thay i gi tr ring
h
cho ta mt thay i nh ca h s khuch i
ij
k , c th
hin bng cng thc sau:
( )
ij
ij
ij
h
h h
R H
k

c
=
c
(1.3)
trong
ij
h
R l phn d ca kiu dao ng th h, c ngha l kt qu ca
phng php iu khin v phng thc quan st c miu t trc . M rng
phng trnh (1.3) vi h MIMO c th c vit nh sau:
( )
ij
h
h h
trace R H
k

c
= (

c
(1.4)
i vi nhng thay i nh ca
ij
k A trong h s khuch i
ij
k , s thay i
gi tr
h
A l ( )
ij ij
ij ij h h h
R H k A = A (1.5)
T biu thc (1.5) chng ta thy pha ca
ij
H iu khin hng thay i ca
gi tr ring
h
v ci thin h s
ij
k . Pha ca ( )
ij
H s c chn nh hng ti
phn m ca mt phng phc, gi tr ring c th dch chuyn v bn tri bng cch
tng h s khuch i t c m men damping trong vng lp kn mong mun.
Khi gii phng trnh (1.5) s cho cu trc iu khin phn cp, v d khi ma trn
iu khin l ma trn ng cho. Mc d u ra ca mt b iu khin (gi l i)
iu khin mt bin u vo vt l no , nhng iu ny nh hng ti cc u ra
e
B
o
o
k

f
o
r

Y
o
u
25

khc (bn cnh i) bi v cc mi lin kt trong my pht in thng qua li in.
S thay i gi tr ring tng th lin quan n h s khuch i ca b iu khin
c la chn cung cp cho tt c cc vng lp. Hot ng ca s thay i h s
khuch i
ii
k th hin nh sau:

( )
ij
ii ii
1
n
ji
h h h
j
R H k
=
A = A (1.6)
Gi tr thay i ca
h
lin quan n b iu khin n l:

( )
ij
ii ii
1 1
n n
ji
h h h
i j
R H k
= =
A = A (1.7)
Nghin cu phng trnh (1.6) ta thy pha ca ( )
ii
H s c chn to ra m
men damping vi ch h thng qua ( )
ii
G s ph hp vi h s khuch i
ii
k . Pha
v h s khuch i ca thnh phn
ii
R gip ta la chn c tnh pha v h s
khuch i ca b iu khin mt cch tt nht. H s ca ma trn
ij
h
R , ngay c
trong cu trc iu khin phn cp, cng cho bit cc vng lp khc nhau. Mt s
h s c th lm gi tr ring dch sang bn phi, kt qu cho thy m men damping
quan st c khc nhau ng k t cc gi tr thay i ny.
1.5.2. Cc cng trnh nghin cu v PSS
c rt nhiu cc cng trnh nghin cu v PSS, nhng a s u tp trung
vo phng php la chn tham s cho PSS theo cu trc cng c (chun IEEE).
Chng hn nh chn tham s ti u H

cho PSS [15], [28], [36]; p dng chun H

2

chn tham s cho PSS [20], [23]. Ngoi ra mt s tc gi cn nghin cu thit
k PSS c tnh tch hp cc yu cu nh thay i cc thng s, hoc thay i iu
kin lm vic c c m hnh ging nh min tn s thng qua hm hiu chnh
b ph hp, mc tiu l thu c p ng mong mun ca h thng. Phng php
thit k PSS bn vng s dng cu trc phn tch chn tham s cho PSS
c thng bo [16], [44]. Hm truyn vng h gia u ra ngoi sinh i vi nhiu
c nh dng bng cc b lc trng s iu khin. iu ny c bit n
nh iu khin loopshaping [37] bi ton ti u ny c gii bi k thut DK
interaction [47] trong Matlab. S thnh cng ca cc phng php trn da nhiu
vo vic la chn cc trng s, tuy nhin khng a ra mt lut r rng no p
dng cho sau ny.
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Nu nh vic gii cc bi ton iu khin ti u gp nhng gii hn th cch
tip cn chun H

gii bt ng thc ma trn tuyn tnh (LMI) c th c p

dng. S tin li ca k thut ny l n c th s dng cho nhiu mc ch iu
khin khc nhau, chng hn nh nhiu c lc bng iu khin ti u cng bc
H

thng qua H
2
v gn im cc thng qua LMI. Ngoi ra c th kt hp vi nhau
bng k thut iu khin cn ti u. iu khin cn ti u thng qua cch tip cn
LMI c ng dng cho thit k PSS bn vng bng c trng thi lm vic v
phn hi u ra, c thng bo trong cc ti liu [18], [21], [50].
Gn y, vi s pht trin ca k thut iu khin thng minh v kh trnh,
nh thut ton di truyn, mng neural v logic m gii quyt c mt s cc bi
ton t ra trong k thut. Thut ton di truyn c s dng thit k PSS dp tt
cc dao ng gc rotor c thng bo trong ti liu [53]. K thut mng neural
nhn to c s dng thit k iu chnh tham s cho PSS [54]. Phng php
thit k PSS theo l thuyt h m cng c ng dng bi cng trnh ca Hariri
v Malik nm 1996 [24], hay cng trnh ca Hosseinzadeh, N. [26] nm 1999.
1.6. Hng nghin cu ca lun n
Cc phn tch trn cho thy rng, c kh nhiu cc lun im ring r cho
vic chn tham s ca PSS vi cu trc nh trc v cc tham s PSS hin ang s
dng cha phi l tt nht. Cng nh vy, cu trc cc PSS ang dng cha phi l
ti u v sch lc thit k PSS ti u cu trc cha c mt nghin cu no. V
vy, lun n t ra nhim v nghin cu thit k cu trc PSS ti u trn c s l
thuyt RH

ri t th nghim nh gi, so snh cht lng vi PSS c cu trc
chun ang s dng hin nay.
L thuyt iu khin ti u RH

(iu khin bn vng) lin quan ti bi ton
iu khin m i tng c cha nhng thnh phn bt nh khng xc nh c,
chng hn nh sai lch m hnh i tng v nhiu. Khc vi iu khin thch nghi,
cc thnh phn bt nh ca iu khin bn vng phi tha mn gi thit l b
chn v b iu khin bn vng khng cn phi t chnh nh li chnh mnh. c
nhng phng php iu khin bn vng khng s dng l thuyt ti u, v d nh
iu khin bn vng loop shaping, iu khin bn vng theo nguyn l Kharitonov.
Nhng cng c nhng phng php iu khin bn vng c s dng l thuyt ti u
vi mc ch nng cao cht lng bn vng ca h thng ti mc tt nht. iu
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khin bn vng RH

l mt trong s . N c nhim v iu khin n nh h
thng bn vng vi sai lch m hnh v bn vng vi nhiu. Ngoi ra cht lng n
nh li t nhy cm nht vi sai lch m hnh v nhiu, iu m cc phng php
iu khin khc khng c.
B iu khin RH

xut trong lun n ny khng thay th bt c mt b
iu khin no c trong HT ngoi tr PSS. C th, n khng thay th b
turbine & iu tc, b kch t & AVR, b gii hn in p,... N ch c b sung
thm vo HT nh mt PSS ti u tham s v cu trc dp tt cc dao ng gc
rotor ca my pht in. Cc dao ng ny c tn s khong 0,1 2Hz v l h qu
ca vic thiu thnh phn m men damping hay do phn ng qu nhanh ca HTKT.
Tnh ti u ca b iu khin RH

ny nm ch s nh hng ca vic b sung
b iu khin RH

ti nhng b iu khin khc, cng nh cht lng ng hc
c ca h thng l nh nht.
1.7. Kt lun chng 1
- Trong chng ny trnh by tng quan vn iu khin HT nh iu
khin in p, iu khin tn s v c bit l vn iu khin dp cc dao ng
gc rotor ca my pht in.
Phn tch nguyn nhn gy ra dao ng, tc hi ca dao ng v bin php
khc phc. T a ra vn s dng b n nh HT PSS hot ng thng qua
AVR dp tt cc dao ng gc rotor ca my pht in.
Phn tch cc vn nghin cu v PSS, bao gm cc phng php tip cn
thit k PSS nh m men damping, p ng tn s hay gi tr ring v ma trn trng
thi; cng nh phn tch cc tn ti v nghin cu cn b ng.
Trn nn l thuyt ti u RH

tc gi t ra nhim v thit k b iu
khin PSS bn vng, c tnh ti u c v cu trc v tham s, thay th cho cc
PSS hin c. thc hin c mc ch t ra , trc ht ta phi xy dng c
m hnh ton tng qut ca trm pht in v cc phn t c lin quan. y l tin
quan trng p dng l thuyt ti u RH

vo thit k b iu khin PSS.

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2 Chng 2. M HNH TON CA TRM PHT IN
TRONG H THNG IN
My pht in xoay chiu c tc quay rotor n bng tc quay ca t
trng n
1
gi l my pht in ng b. ch xc lp, my pht in ng b
c tc quay rotor lun khng i khi ti thay i.
My pht in ng b l ngun in chnh ca cc li in cng nghip,
trong ng c s cp l cc turbine hi, turbine kh hoc turbine thy lc. Vi
cng ngh ch to hin i, cng sut ca mi t my c th t ti hng trm MW
hoc ln hn. Cc my pht in thng c s dng lm vic song song vi
nhau, nhng cng c th lm vic c lp trong cc li in c cng sut nh.
My pht in ng b ng b gm hai b phn chnh l stato v roto. Stator
ca my pht in ng b cng ging nh stator ca my in khng ng b gm
hai b phn chnh l li thp stator v dy qun ba pha stator. Li thp stator c
p bng cc l tn Silic dy khong 0,5mm, hai mt c ph lp sn cch in v
dc chiu di ca li thp c cc rnh thng gi t nm ngang trc lm mt. Li
thp stator c t c nh trn thn my. Dy qun stator cn gi l dy qun
phn ng v c t trong cc rnh ca stator.
Rotor my pht in ng b c cc cc t v dy qun kch t. C th phn
rotor thnh hai loi chnh: rotor cc n v rotor cc li [1], [13].
Cc t nm pha ngoi ca rotor, chng thng phi chu lc ly tm ln.
hn ch tn tht do dng in r trn cc t, chng c ch to bi cc l thp vi
c tnh t ho tt. Tu thuc vo tc quay ca rotor (n) v tn s dng in
stator (f) m s cc t c xc nh bi [30]:

120f
p
n
= Equation Section 2 (2.1)
Vi cc my pht in cng sut ln trn b mt pha u cc t c gn thm
cun cn (damper). Thanh dn bng ng hoc ng thau c s dng ch to
cun cn tu thuc vo mc ch s dng. Cc thanh cn c ni vi cc b phn
cun cn (cc vng ngn mch, cc vng ai) bng cc mi hn bc hoc ng thau
gim in tr tip xc v tng bn c kh. Nhim v ca cun cn l: ngn
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chn dao ng ca my pht do s thay i t ngt ca ph ti, in p v tn s
h thng; to ra m men khi ng ging cun dy ca ng c cm ng rotor lng
sc; ngn chn sng hi bc cao to ra t phn ng phn ng do ti khng i xng.

S khi ca mt my pht nh hnh 2.1. in nng c to ra bi my pht
ng b bng cch iu khin b iu tc s cp, thng thng l turbine hoc ng
c diezen. Turbine c lp t vi b iu tc c nhim v iu khin tc hoc
cng sut u ra da trn c tnh cng sut tn s. Cng sut my pht c pht
ln li in thng qua MBA tng p. Dng in hoc in p mt chiu to ra t
thng trong my pht c cung cp bi my kch t, dng in kch t c iu
khin bi b t ng iu chnh in p AVR. Mt MBA c th c thm vo
gia MBA tng v my pht nhm cung cp cng sut cho cc thit b ca nh my
nh ng c my nn, my bm, my kch t, My pht cng c lp t vi
my ct chnh pha cao p, my ct u cc tng tnh linh hot trong vn hnh.
Li in

e
Turbine

V
a
n
/
c

n
g

c

n
h

h

n
g


My ct

My bin
p tng

My ct

Cc thit b
o lng

My pht
in

Kch t


AVR

iu tc

P
f
V
ref


P
ref


N
h
i

n

l
i

u

v

o


My bin
p

C
u
n
g

c

p

t

i

n
g
u

n

p
h

V
t


I
t


+

_

E
fd


V
R

Trc
Hnh 2.1. S khi mt my pht in ng b
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Trong my pht in ng b hai cc t nh hnh 2.2, trc dc d l trc ca
cc bc N. Trc ngang q vt trc trc d mt gc 90
0
in. Trong iu kin
khng ti, khi trong my ch c t trng kch thch, sc t ng ca t trng s
hng theo trc d v sc in ng ca dy qun stato s hng dc trc q. M
hnh my pht c xy dng trong phn ny da trn khi nim my in ng
b l tng c hai cc t, b qua cc sng t trng bc cao c nh hng n
cc c tnh ca my v cho rng rnh ca stator khng nh hng n in khng
ca rotor d v tr gc ca n nh
th no. Mc d s bo ha mch
t khng c tnh n mt cch
r rng trong m hnh ny nhng
ta c th hiu chnh in khng
theo hai trc bng h s bo ha
hay a thm phn t b vo t
trng kch thch.
2.1. M hnh my pht in
ng b
Hnh 2.2 l s n gin
ca my in hai cc t vi cun dy kch t, c ba cun cn trn rotor (mt cun
dc trc, hai cun ngang trc), cc cun dy stator c trc lch nhau 120
0
in, k
hiu dng in i vo l v i ra l - Mc d hnh 2.2 biu din s my
in hai cc t, nhng tt c c phng trnh sau ny u c vit cho my in c
p cc t vi tc
2
m
p
e e = [46].
Theo nh lut Kirchhoff, Faraday v Newton ta c cc phng trnh i s.
a
a s a
d
v r i
dt

= + (2.2)
b
b s b
d
v r i
dt

= + (2.3)
c
c s c
d
v r i
dt

= + (2.4)
Trc pha a

Trc pha b

Trc pha c

Trc d

Trc q

u

1d
fd
c
b
a
1q
2q
Hnh 2.2. S my in ng b hai cc t

N

S

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fd
fd fd fd
d
v r i
dt

= + (2.5)
1
1 1 1
d
d d d
d
v r i
dt

= + (2.6)
1
1 1 1
q
q q q
d
v r i
dt

= + (2.7)
2
2 2 2
q
q q q
d
v r i
dt

= + (2.8)
2 d
dt p
u
e = (2.9)
2
m e fw
d
J T T T
p dt
e
= (2.10)
trong :
t thng mc vng
r in tr cun dy
J hng s qun tnh
p s cc t
T
m
m men c ca trc
T
e
m men in
T
fw
m men ma st khe h khng kh (friction windage)
2.1.1. Phng trnh biu din trn h trc to dq0
Trong cc phng trnh biu din ng hc ca my in ng b, ngi ta
hay biu din trn h ta dq0. chuyn t cc bin pha a, b, c sang cc bin
dq0 ta ng dng php chuyn i h ta ca Park [29].
0 0 0 0 0 0
, ,
dq dq abc dq dq abc dq dq abc
v T v i T i T = = = (2.11)
trong :
[ ] , [ i ] , [ ]
T T T
abc a b c abc a b c abc a b c
v v v v i i i = = = (2.12)
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0 0 0 0 0 0
[ ] , [ ] , [ ]
T T T
dq d q dq d q dq d q
v v v v i i i i = = = (2.13)
v
0
2 2
sin sin( ) sin( )
2 2 3 2 3
2 2 2
cos cos( ) cos( )
3 2 2 3 2 3
1 1 1
2 2 2
dq
p p p
p p p
T
t t
u u u
t t
u u u
(
+
(
(
(
= +
(
(
(
(

(2.14)

o ngc ta c
0
1
sin cos 1
2 2
2 2
sin( ) cos( ) 1
2 3 2 3
2 2
sin( ) cos( ) 1
2 3 2 3
dq
p p
p p
T
p p
u u
t t
u u
t t
u u

(
(
(
(
=
(
(
(
+ +
(

(2.15)

t (2.2) (2.10) ta c
( )
abc s abc abc
d
v r i
dt
= + (2.16)
s dng php bin i (2.14) v (2.15), ta c
0
1
0 0 0 0
( )
dq
dq s dq dq dq
d
v r i T T
dt

= + (2.17)
Sau khi bin i, ta c cc phng trnh my in biu din trong h dq0 nh sau
d
d s d q
d
v r i
dt

e = + (2.18)
q
q s q d
d
v r i
dt

e = + + (2.19)
0
0 0 s
d
v r i
dt

= + (2.20)
fd
fd fd fd
d
v r i
dt

= + (2.21)
1
1 1 1
d
d d d
d
v r i
dt

= + (2.22)
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1
1 1 1
q
q q q
d
v r i
dt

= + (2.23)
2
2 2 2
q
q q q
d
v r i
dt

= + (2.24)
2 d
dt p
u
e = (2.25)
2
m e fw
d
J T T T
p dt
e
= (2.26)
Mt khc, m men in li c tnh theo [30], [46]
3
( )
2 2
e q d d q
p
T i i = (2.27)
gc rotor
0
2
p
t o u e = (2.28)
suy ra
0
d
dt
o
e e = (2.29)
Cui cng ta c m hnh my pht in ng b vi cc bin mi va nh ngha l
d
s d q d
d
r i v
dt

e = + + (2.30)
q
s q d q
d
r i v
dt

e = + (2.31)
0
0 0 s
d
r i v
dt

= + (2.32)
fd
fd fd fd
d
r i v
dt

= + (2.33)
1
1 1 1
d
d d d
d
r i v
dt

= + (2.34)
1
1 1 1
q
q q q
d
r i v
dt

= + (2.35)
2
2 2 2
q
q q q
d
r i v
dt

= + (2.36)
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0
d
dt
o
e e = (2.37)
2 3
( )
2 2
m q d d q fw
d p
J T i i T
p dt
e
= (2.38)
Thng thng, ta hay s dng cc phng trnh my in ng b trong h
n v tng i. Bi vy, sau khi k hiu li cc bin mi trn c s cc bin ban
u, ta c cc phng trnh nh sau
0 0
1
d
s d q d
d
R I V
dt
e

e e
= + + (2.39)
0 0
1
q
s q d q
d
R I V
dt

e

e e
= + (2.40)
0
0 0
0
1
s
d
R I V
dt

e
= + (2.41)
0
1
fd
fd fd fd
d
R I V
dt

e
= + (2.42)
1
1 1 1
0
1
d
d d d
d
R I V
dt

e
= + (2.43)
1
1 1 1
0
1
q
q q q
d
R I V
dt

e
= + (2.44)
2
2 2 2
0
1
q
q q q
d
R I V
dt

e
= + (2.45)
0
d
dt
o
e e = (2.46)
0
2
( )
M d q q d FW
H d
T I I T
dt
e

e
= (2.47)
2.1.2. Phng trnh vi mch t tuyn tnh
Trong trng hp ny t thng ca my in l hm tuyn tnh ca dng in:
( ) ( )
abc ss shaft abc sr shaft rotor
L i L i u u = + (2.48)
( ) ( )
rotor rs shaft abc rr shaft rotor
L i L i u u = + (2.49)
trong :
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1 1 2 1 1 2
[ ] , [ ]
T T
rotor fd d q q rotor fd d q q
i i i i i = = (2.50)
chuyn sang h trc dq0 theo (2.11) v sau cc bin i ta c
0 0
1
d
s d q d
d
RI V
dt
e

e e
= + + (2.51)
0 0
1
q
s q d q
d
R I V
dt

e

e e
= + (2.52)
0
0 0
0
1
s
d
R I V
dt

e
= + (2.53)
0 1
2
( )[ (
( )
( ) )]
q
d d
d fd q d d d d
d ls
d ls d q
dE
X X
T E E X X I
dt X X
X X I E

'
' ''
' ' ' =
'
' ' +
(2.54)
1
0 1
( )
d
d d q d ls d
d
T E X X I
dt

'' ' ' = + (2.55)

0 2
2
( )[ (
( )
( ) )]
q q
d
q d q q q q
q ls
q ls q d
X X
dE
T E X X I
dt X X
X X I E

' '' '

' ' ' = +
'
' ' + +
(2.56)
2
0 2
( )
q
q q d q ls q
d
T E X X I
dt

'' ' = (2.57)

0
d
dt
o
e e = (2.58)
0
2
( )
M d q q d FW
H d
T I I T
dt
e

e
= (2.59)

/
1
d ls d d
d d d q d
d ls d ls
X X X X
X I E
X X X X

'' ''
'' ' = + +
' '
(2.60)

/
2
q ls q q
q q q d q
q ls q ls
X X X X
X I E
X X X X

'' ' ''
'' = +
' '
(2.61)

0 0 ls
X I = (2.62)
Trong cc phng trnh trn mi quan h gia
0 0
, , , , ,
d d q q
V I V I V I vn
cha xc nh, do cn gi li ba phng trnh i s t thng c lin quan n
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,
d q
I I v
0
I . Thm vo cc bin ,
fd M
E T v
FW
T cng cha xc nh. l l
do gi thit
fd
E ,
M
T l nhng tn hiu vo hng s v 0
FW
T = .
Nh vy m hnh ng hc ca my pht in ng b biu din theo (2.51)
(2.62), nu s bo ho ca mch t khng xem xt n.
2.2. M hnh kch t v b iu chnh in p
Nh trnh by trong mc 1.2.2.1. trng thi tnh, vic iu chnh in p
kch t s thay i c dng in kch t v do thay i in p u cc my pht.
y ta ch quan tm ti m hnh ton hc ca n. Ta xem xt hai trng hp sau:
Kch t mt chiu c lp

ng hc mch t cho bi
1
1 1 1
f
in f in
d
e r i
dt

= + (2.63)
1 1 1 fd s s
v K e| = (2.64)
hay
1 1us
1 1
1 1
( )
f f fd
in fd f sat fd fd
g g
r L dv
e v r f v v
K K dt
= + + (2.65)
sau khi t tn cc bin mi v chuyn sang n v tng i [46], ta c m hnh
kch t mt chiu c lp:
[ ( )]
fd
E Esep E fd fd R
dE
T K S E E V
dt
= + + (2.66)
trong :
V
R
in p u vo my kch t (in p u ra AVR)
v
fd

+

+

e
in1

r
f1

L
f1

i
in1

Hnh 2.3. S mch my kch t mt chiu c lp
+

1 1 1 s s
K e|

r
s

L
s1

Phn ng
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( )
E fd
S E hm bo ho

1
1
f
Esep
g
r
K
K
=
1 g
K h s gc ng tip tuyn vi ng cong bo ho mch t
Kch t mt chiu t kch thch

Khi my pht mt chiu chnh dng lm my kch t t kch, th n c xem
nh mc ni tip vi mch t nh hnh 2.4. Phng trnh ng hc mch t s l
1
1 1 1
f
in f in fd
d
e r i v
dt

= + (2.67)
chuyn sang h n v tng i [46], ta c
[ ( )]
fd
E Eself E fd fd R
dE
T K S E E V
dt
= + + (2.68)
trng thi xc lp, phng trnh kch t c th vit
[ ( )] 0
R E E fd fd
V K S E E + = (2.69)
Tn hiu u vo
R
V thng c ci t gi tr ln nht
Rmax
V s to ra
in p kch t ln nht
fdmax
E v phi tho mn phng trnh
( ) 0
Rmax E Emax fdmax
V K S E + = (2.70)
M hnh b iu chnh in p AVR
R
A R A in
dV
T V K V
dt
= + (2.71)

min max
R R R
V V V s s (2.72)
v
fd

r
f1

e
in1

+

Hnh 2.4. S mch my kch t t kch
+

L
f1

r
s1

L
s1

i
in1

1 1 1 s s
K e|


+
e
B
o
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k

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trong :
V
in
in p u vo AVR
T
A
hng s thi gian AVR
K
A
h s khuch i
V
R
in p u vo ca my kch t chnh, in p ny c th c gi tr bt
k gia 0 v gi tr gii hn ca n nu my kch t chnh l t kch, nhng phi
khc khng nu my kch t l kch t c lp.
M hnh ng hc ca mch n nh kch t
( )
E E fd
R F
F F F fd
E E
K S E
V dV
T V K E
dt T T
+ | |
= + +
|
\ .
(2.73)
mt dng khc ca m hnh ny hay c s dng [46]
F
f fd F
F
K
R E V
T
= (2.74)
vi
f
R nh trng thi ng hc
f
F
F f fd
F
dR
K
T R E
dt T
= + (2.75)
s dng quan h (2.76) thay vo (2.71) ta s c m hnh y ca kch t v
AVR l cc phng trnh (2.77) (2.80)
F
in ref t f fd ref t F
F
K
V V V R E V V V
T
= + = (2.76)
Vy, m hnh ng hc kch t v AVR s l:
[ ( )]
fd
E E E fd fd R
dE
T K S E E V
dt
= + + (2.77)
f
F
F f fd
F
dR
K
T R E
dt T
= + (2.78)
( )
R A F
A R A f fd A ref t
F
dV K K
T V K R E K V V
dt T
= + + (2.79)

min max
R R R
V V V s s (2.80)
hoc c th s dng cc phng trnh (2.77), (2.73) v phng trnh
e
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( )
R
A R A F A ref t
dV
T V K V K V V
dt
= + (2.81)
Cc phng trnh (2.73), (2.77) v (2.81) c s khi nh hnh 2.5.

2.3. M hnh turbine v b iu chnh tc
2.3.1. M hnh turbine
a) Turbine thu lc
Nh my thu in c nm thnh phn chnh, l: h cha, ng ng dn
nc, p dng nc, ng ng p lc v turbine thy lc. M hnh phi tuyn ca
cc thnh phn ny thng khng c s dng trong cc phn tch ng hc ca
HT v n phc tp. Thay vo cc m hnh xp x tuyn tnh c s dng c
c c tnh c bn ca nh my in v nhng nh hng ca n n HT.
M hnh turbine thu lc trong h n v tng i c dng (ch c gi tr vi
nhng thay i nh xung quanh im lm vic):
23 13 21
23
11 11 11
1
HT HV
w HT HV w
A A A dT dP
T T P T A
dt A A A dt
| |
= + +
|
\ .
(2.82)
0
HT
HT
d
dt
o
e e = (2.83)
0
2
HT HT
HT M
H d
T T
dt
e
e
= (2.84)
( )
M HM HT
T K o o = (2.85)
trong :
HT
T m men u ra ca turbine thu lc
1
A
A
K
sT +

1
E E
K sT +

V
ref

V
R
E
fd

V
t

Hnh 2.5. M hnh HTKT IEEE loi 1 [46]

( )
E fd
S f E =
+
1
F
F
sK
sT +

V
F



+
e
B
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f
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40

HV
P cng sut mc nc tc nh mc (ng vi mt v tr ca cng
cnh hng)
T
w
hng s thi gian bt u (0,5 5s)
HT
e tc ca turbine thu lc
HT
H hng s qun tnh ca turbine thu lc
Khi s dng m hnh my pht in ng b, ngui ta thng s dng m
men trong phng trnh chuyn ng. V my pht v turbine i i vi nhau thng
qua gc rotor o v gc
HT
o , cng sut thu P
HV
s tr thnh mt trng thi ng
hc. Khi lin kt cng vi nhau, T
HV
tr thnh T
M
v hng s turbine tr thnh hng
s qun tnh my pht. Do , ta c phng trnh:
23 13 21
23
11 11 11
1
M HV
w M HV w
A A A dT dP
T T P T A
dt A A A dt
| |
= + +
|
\ .
(2.86)
b) Turbine hi
Trong m hnh ny ta quan tm ti nh hng ca v tr van (cng sut P
SV
) ti
m men ca my pht ng b T
M
.
1
HP RH HP RH M
RH M CH SV
CH CH
K T K T dT
T T P K
dt T T
| |
= + + +
|
\ .
(2.87)
CH
CH CH SV
dP
T P P
dt
= + (2.88)
trong :
P
CH
cng sut u ra ca ng ng hi
P
SV
v tr van turbine (cng sut)
v
M
T l mt trng thi ca my pht ng b khi turbine v my pht ni vi nhau.
i vi h thng khng c gia nhit, n gin cho 0
RH
T = vo (2.87)
(2.88) v ta c c m hnh sau y
M
CH M SV
dT
T T P
dt
= + (2.89)
v
SV
P s tr thnh mt trng thi khi b iu tc c thm vo.
e
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41

2.3.2. M hnh b iu tc
C rt nhiu h thng iu tc turbine [10], [33], chng hn nh loi c kh
thy lc (hnh 2.6) nhng loi ny ang dn c thay th bng loi in t thy
lc (hnh 2.7).


M hnh b iu tc bao gm khu gii hn v tr van l
0
1
1
SV
SV SV C
D
dP
T P P
dt R
e
e
| |
= +
|
\ .
(2.90)
0
SV
max
SV
P P s s (2.91)
trong :
P
C
cng sut t u vo (c th l mt hng s)
R
D
tc iu chnh (%)
M hnh trn tng ng vi m hnh ca hng General Electric.
Kt lun: M hnh ng hc turbine v b iu tc s l:
M
CH M SV
dT
T T P
dt
= + (2.92)
B bin i
in t -
thy lc
Pilot
valve
e

Hnh 2.7. S khi ca h thng iu tc in t - thy lc
Ti
t
Phn hi
dng hi
B iu
chnh
in t
p sut hi
Servor
motor
valve
e
ref

Phn hi
V

t
r

v
a
n

Ae

Pilot
valve
e

Hnh 2.6. S khi ca h thng iu tc c kh - thy lc
Ti
t
iu tc ly
tm
Servor
motor
valve
Phn hi
V

t
r

v
a
n

e
ref

Ae

e
B
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42

0
1
1
SV
SV SV C
D
dP
T P P
dt R
e
e
| |
= +
|
\ .
(2.93)
0
SV
max
SV
P P s s (2.94)
Cc phng trnh (2.92) (2.94) c s khi nh hnh 2.8

2.4. M hnh ca h my pht kt ni vi HT
2.4.1. Phng trnh rng buc in p trong h n v tng i
Khi my pht in kt ni vi HT ta c phng trnh rng buc in p

0 0
1
sin( )
ed
d e d eq s vs
d
V RI V
dt
e
o u
e e
= + + (2.95)

0 0
1
( )
eq
q e q ed s vs
d
V RI Vcos
dt

e
o u
e e
= + + (2.96)

0
0 0
0
1
e
e
d
V R I
dt

e
= (2.97)
vi
( )
ed ep d
X I = (2.98)
( )
eq ep q
X I = (2.99)

0 0 0
( )
e e
X I = (2.100)
s
V l in p trn thanh ci h thng c n v l p.u, v tt c cc i lng
khc tng ng vi lng nh mc ca my pht.
1
D
R

1
1
SV
sT +

1
1
CH
sT +

P
C
- ti t
P
SV

T
M
Ae
Hnh 2.8. M hnh h thng turbine v iu tc n gin
+
_
e
ref

_
+
e
Turbine iu tc
e
B
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43

2.4.2. M hnh multitimescale ca h my pht kt ni vi HT (m hnh
bc 8)
Trong phn ny ta s nghin cu trng hp ca mt my pht kt ni vi
thanh ci ca HT, s dng m hnh my pht (2.51) (2.62), m hnh kch
t/AVR (2.77) (2.80) khng c b b ti, m hnh turbine/iu tc (2.89) (2.91),
phng trnh rng buc in p u cc (2.95) (2.97) v (2.98) (2.100)
Trc ht t

0
( )
t s
T e e e = tc tc thi (2.101)

0
2
s
H
T
e
= hng s thi gian c (2.102)

0
1
c
e
= (2.103)
kt hp t thng my pht vi ng dy cng nh cc thng s khc:

0 0 0
, ,
, ,
, ,
, X
de d ed qe q eq e e
de d e qe q e de d e
qe q e de d e qe q e
se s e lse ls e
X X X X X X X X X
X X X X X X X X X
R R R X X
= + = + = +
' ' = + = + = +
' ' '' '' '' '' = + = + = +
= + = +
(2.104)
Thay phng trnh (2.95) (2.97) vo (2.51) (2.62) v thm vo cc m
hnh ng hc khc ta c
1 sin( )
de
se d t qe s vs
s
d
R I V
dt T
c
c e o u
| |
= + + +
|
\ .
(2.105)
1 cos( )
qe
se q t de s vs
s
d
R I V
dt T

c
c e o u
| |
= + +
|
\ .
(2.106)

0
0
e
se
d
R I
dt

c = (2.107)

0 1
2
( ) ( ( )
( )
q
d d
d fd q d d d q d ls d q
d ls
dE
X X
T E E X X I X X I E
dt
X X

' (
' ''
' ' ' ' ' = + +
(
'
(

(2.108)
1
0 1
( )
d
d d q d ls d
d
T E X X I
dt

'' ' ' = + (2.109)

0 2
2
( ) ( ( )
( )
q q
d
q d q q q q q ls q d
q ls
X X
dE
T E X X I X X I E
dt
X X

(
' ''
'
( ' ' ' ' ' = + + +
( '

(2.110)
e
B
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44

2
0 2
( )
q
q q d q ls q
d
T E X X I
dt

'' ' ' = (2.111)

s t
d
T
dt
o
e = (2.112)
( )
t
s M de q qe d FW
d
T T I I T
dt
e
= (2.113)

1
( ) ( )
( ) ( )
d ls d d
de de d q d
d ls d ls
X X X X
X I E
X X X X

'' ' ''
'' ' = + +
' '
(2.114)

2
( ) ( )
( ) ( )
q ls q q
qe qe q d q
q ls q ls
X X X X
X I E
X X X X

'' ' ''
'' ' = + +
' '
(2.115)

0 0 0 e e
X I = (2.116)
[ ( )]
fd
E E E fd fd R
dE
T K S E E V
dt
= + + (2.117)
f
F
F f fd
F
dR
K
T R E
dt T
= + (2.118)
( )
R A F
A R A f fd A ref t
F
dV K K
T V K R E K V V
dt T
= + + (2.119)

min max
R R R
V V V s s (2.120)

2 2
t d q
V V V = + (2.121)
1 sin( )
ed
d e d t eq s vs
s
d
V R I V
T dt
c
e c o u
| |
= + + +
|
\ .
(2.122)
1 ( )
eq
q e q t ed s vs
s
d
V R I Vcos
T dt

c
e c o u
| |
= + +
|
\ .
(2.123)

ed ep d
X I = (2.124)

eq ep q
X I = (2.125)
M
CH M SV
dT
T T P
dt
= + (2.126)
SV t
SV SV C
D s
dP
T P P
dt R T
e
c = + (2.127)
e
B
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0
SV
max
SV
P P s s (2.128)
Trong cc phng trnh trn, qu trnh qu stator ca
de
v
qe
din ra
rt nhanh so vi cc ng hc khc. T thng mc vng cun cn
1d
v
2q
din ra
cng kh nhanh, v
0 d
T'' v
0 q
T'' thng thng kh nh. Cc thnh phn E
fd
v V
R
c
xu hng nhanh bi v T
E
v T
A
thng l nh. Cc thnh phn cun dy kch t
q
E' v thnh phn phn hi R
f
c xu hng chm bi v
0 d
T' v
F
T kh ln. Cc
trng thi turbine/iu tc T
M
, P
SV
c xu hng chm bi v T
CH
v T
SV
kh ln.
T thng mc vng cun cn
d
E' c th nhanh hoc chm, da trn
0 q
T' . M hnh
h my pht kt ni vi HT trn cn gi l m hnh bc 8 [9].
c tnh ng hc ca mi m hnh l rt quan trng, v n xc nh kch
thc bc dng trong m phng thi gian thc. Nu mt m hnh c c tnh ng
hc nhanh th cn thit phi c kch thc bc nh. Trng hp hin tng quan
tm trong min thi gian vi p ng chm v trung bnh, th c th b qua ng
hc nhanh. Sau y ta xt mt s trng hp m ng hc nhanh c b qua t
gip ta la chn ra m hnh ph hp vi mc ch nghin cu.
2.4.3. M hnh b qua qu stator ca h my pht kt ni vi HT (m
hnh bc 6)

M hnh ny tng t nh m hnh trn, ngoi tr qu trnh qu stator c
cho l din ra rt nhanh v tng ng vi cc dao ng rotor chm. Mch thay th
ng hc vi ngun in p t sau in khng
d
X'' c trnh by trn hnh 2.9

0 1
2
( ) ( ( )
( )
q
d d
d fd q d d d d d ls d q
d ls
dE
X X
T E E X X I X X I E
dt
X X

' (
' ''
' ' ' ' ' = +
(
'
(

(2.129)
jX
d

+

+

+

R
s
R
e

jX
e

vs
j
s
Ve
u

( /2)
( )
j
d q
I jI e
o t
+

( /2)
( )
j
d q
V jV e
o t
+
Hnh 2.9. S ng hc siu qu ca my pht [46]
e
B
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k

f
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46


1
0 1
( )
d
d d q d ls d
d
T E X X I
dt

'' ' ' = + (2.130)

0 2
2
( ) ( ( )
( )
q q
d
q d q q q q q ls q d
q ls
X X
dE
T E X X I X X I E
dt X X

( ' '' '
' ' ' ' ' = + + + (
'
(

(2.131)
2
0 2
( )
q
q q d q ls q
d
T E X X I
dt

'' ' = (2.132)

0
d
dt
o
e e = (2.133)
1
0
2
2
( )
d ls d d
M q q d q
d ls d ls
q ls q q
d d q d q d FW
q ls q ls
H d X X X X
T E I I
dt X X X X
X X X X
E I I X X T
X X X X
e

e

'' ' ''

' =
' '
'' ' ''
' '' '' +
' '
(2.134)
[ ( )]
fd
E E E fd fd R
dE
T K S E E V
dt
= + + (2.135)
f
F
F f fd
F
dR
K
T R E
dt T
= + (2.136)
( )
R A F
A R A f fd A ref t
F
dV K K
T V K R E K V V
dt T
= + + (2.137)
M
CH M SV
dT
T T P
dt
= + (2.138)
0
1
1
SV
SV SV C
D
dP
T P P
dt R
e
e
| |
= +
|
\ .
(2.139)
vi cc iu kin rng buc
min ax R R R m
V V V s s (2.140)
ax
0
SV m
SV
P P s s (2.141)
v cc phng trnh i s tm I
d
, I
q

2
( ) ( ) sin( ) 0 o u
'' ' '' + +
'' ' + + + + =
' ' +
q ls q q
s e d q e q d q s vs
q ls q ls
X X X X
R R I X X I E V
X X X X
(2.142)
1
( ) ( ) cos( ) o u
'' ' '' +
'' ' + + + +
' '
d ls d d
s e q d e d q d s vs
d ls d ls
X X X X
R R I X X I E V
X X X X
(2.143)
e
B
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f
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47

thay vo 2 phng trnh (2.144) (2.145) tm V
d
, V
q

sin( )
d e d e q s vs
V RI X I V o u = + (2.144)
cos( )
q e q e d s vs
V RI X I V o u = + + (2.145)
cui cng
2 2
t d q
V V V = + (2.146)
2.4.4. M hnh two-axis ca h my pht kt ni vi HT (m hnh bc 4)

Ta thy trong cc phng trnh trn vn cn cha ng hc cun cn
1d
v
2q
. Nu
0 d
T'' v
0 q
T'' nh, ta s c s ng hc hai trc ca my pht in
ng b nh hnh 2.10 vi cc phng trnh

0
( )
q
d fd q d d d
dE
T E E X X I
dt
'
' ' ' = (2.147)

0
( )
d
q d q q q
dE
T E X X I
dt
'
' ' ' = + (2.148)
0
d
dt
o
e e = (2.149)
0
2
( )
M d d q q q d d q FW
H d
T E I E I X X I I T
dt
e
e
' ' ' ' = (2.150)
( ( ))
fd
E E E fd fd R
dE
T K S E E V
dt
= + + (2.151)
f
F
F f fd
F
dR
K
T R E
dt T
= + (2.152)
jX
d

+

+

Hnh 2.10. M hnh hai trc (two-axis) ca h my pht [46]
+

R
s
R
e

jX
e

vs
j
s
Ve
u

( /2)
( )
j
d q
I jI e
o t
+

( /2)
( )
j
d q
V jV e
o t
+
e
B
o
o
k

f
o
r

Y
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48

( )
R A F
A R A f fd A ref t
F
dV K K
T V K R E K V V
dt T
= + + (2.153)
M
CH M SV
dT
T T P
dt
= + (2.154)
0
1
1
SV
SV SV C
D
dP
T P P
dt R
e
e
| |
= +
|
\ .
(2.155)
Cc iu kin rng buc
min ax R R R m
V V V s s (2.156)
ax
0
SV m
SV
P P s s (2.157)
v cc phng trnh i s tm I
d
, I
q

( ) ( ) sin( ) 0
s e d q e q d s vs
R R I X X I E V o u ' ' + + + = (2.158)
( ) ( ) cos( ) 0
s e q d e d q s vs
R R I X X I E V o u ' ' + + + + = (2.159)
thay vo 2 phng trnh (2.160) (2.161) tm V
d
, V
q

sin( )
d e d e q s vs
V RI X I V o u = + (2.160)
cos( )
q e q e d s vs
V RI X I V o u = + + (2.161)
cui cng l in p u cc
2 2
t d q
V V V = + (2.162)
2.4.5. M hnh fluxdecay ca h my pht kt ni vi HT (bc 3)
gim bc ca m hnh, trong cc phng trnh phn trc cn cha ng
hc cun cn
d
E' . Nu
0 q
T' nh ta s c c trng thi ng hc vi mong
mun gim bc ny.
Cho
0
0
q
T' = vo phng trnh (2.148) ta c
( ) 0
d q q q
E X X I ' ' + = (2.163)
Kh
d
E' trong (2.147) (2.162), phng trnh I
d
v I
q
tr thnh
( ) ( ) sin( ) 0
s e d q e q s vs
R R I X X I V o u + + + = (2.164)
( ) ( ) cos( ) 0
s e q d e d q s vs
R R I X X I E V o u ' ' + + + + = (2.165)
e
B
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49

Cng nh cc phn trc, hai phng trnh thc c th vit di dng mt
phng trnh phc
( /2) ( /2)
( /2)
[( ) ] ( )( )
( )( )
vs
j
q d q q s d d q
j
e e d q s
X X I jE e R jX I jI e
R jX I jI e Ve
o t o t
u o t

' ' ' + = + +

+ + + +
(2.166)
Cc phng trnh V
d
v V
q
tng t nh phn trc, bi vy s ng hc
ca m hnh fluxdecay my pht in ng b l hnh 2.11.

Dng cui cng ca m hnh fluxdecay m b qua ng hc ca tt c cc
cun cn, bng cch thay (2.163) vo (2.147) (2.162), kh i
d
E' nh sau :

0
( )
q
d fd q d d d
dE
T E E X X I
dt
'
' ' ' = (2.167)
0
d
dt
o
e e = (2.168)
0
2
( )
M q q q d d q FW
H d
T E I X X I I T
dt
e
e
' ' = (2.169)
[( ( )]
fd
E E E fd fd R
dE
T K S E E V
dt
= + + (2.170)
f
F
F f fd
F
dR
K
T R E
dt T
= + (2.171)
( )
R A F
A R A f fd A ref t
F
dV K K
T V K R E K V V
dt T
= + + (2.172)
M
CH M SV
dT
T T P
dt
= + (2.173)
jX
d

+

+

+

R
s
R
e

jX
e

vs
j
s
Ve
u

( /2)
( )
j
d q
I jI e
o t
+

( /2)
( )
j
d q
V jV e
o t
+
Hnh 2.11. M hnh ng hc flux-decay ca my pht in [46]
e
B
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f
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50

0
1
1
SV
SV SV C
D
dP
T P P
dt R
e
e
| |
= +
|
\ .
(2.174)
Cc iu kin rng buc
min max R R R
V V V s s (2.175)
max
0
SV
SV
P P s s (2.176)
v cc phng trnh i s (2.164) (2.165) tnh I
d
, I
q

sau thay vo 2 phng trnh (2.177) (2.178) tm V
d
, V
q

sin( )
d e d e q s vs
V RI X I V o u = + (2.177)
cos( )
q e q e d s vs
V RI X I V o u = + + (2.178)
cui cng l in p u cc
2 2
t d q
V V V = + (2.179)
Trong cc ti liu [9], [51] m hnh ny gi l m hnh bc 3; cn trong ti
liu [39] m hnh ny xp vo m hnh 3 (b qua nh hng ca cun cn).
2.4.6. M men damping
Trong cc phng trnh trn u xt n mt thnh phn m men ma st khe
h khng kh
FW
T . C chiu ngc vi chiu quay rotor, thnh phn m men ny
c dng [46]
FW FW
T K e = (2.180)
Trong mt s ti liu, thnh phn ny c tnh n trong m men damping:
0
( )
D D
T K e e = (2.181)
M men damping c th dng hoc m tu vo tc my pht. Nu cun
cn c xt n thng qua cc phng trnh vi phn ca chng, th khng cn
tnh n trong m men damping
D
T na v ma st khng kh c m t thng qua
FW
T . Trong cc m hnh fluxdecay hoc m hnh kinh in [30], [46] ca my
pht in th nh hng ca cun cn c b qua. Cn nh gi nh hng ca
cc cun cn m khng xt n cc phng trnh vi phn ca chng, ta cn thm
vo thnh phn
FW
T trong phng trnh ca m men damping
D
T .
e
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51

2.5. Kt lun chng 2
Trong chng ny ta xy dng c m hnh ton hc tng qut ca my
pht in ng b, kch t v AVR, turbine v iu tc.
M hnh ton hc ca my pht in ng b trong nghin cu n nh l kh
phc tp t bc 8, bc 6, bc 4, bc 3 vic chn m hnh no l cn ty thuc vo
chng loi my pht, quan im trong vn phn tch n nh. V ch h thng
in m ta ang xt l ch bnh thng nn tt c cc thng s u gn nh
mc, ta cng ch xt n nh hng ca cc nhiu nh. Do ta s dng m hnh
ton hc tng qut trong nghin cu l m hnh bc 3.


















e
B
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52

3 Chng 3. PHN TCH B N NH H THNG IN PSS
Trong chng 1 gii thiu v khi nim PSS, chng 2 xy dng m
hnh ton hc ca my pht in v cc phn t lin quan di dng tng qut.
Trong chng ny ta phi xy dng m hnh ton hc tn hiu nh t nh gi
c nh hng ca PSS trong vic n nh gc ti.
3.1. Xy dng m hnh tn hiu nh ca h my pht kt ni vi HT

Trong nghin cu ny ta kho st s nguyn l ca mt my pht in n
ni vi thanh ci h thng cng sut v cng ln nh hnh 3.1, trong s khng cn
biu din b phn iu tc v p ng ca n tng i chm so vi p ng ca
HTKT. M hnh ton hc tng qut xem xt l m hnh fluxdecay nh trnh by
trong mc 2.4.5. Khi phn tch, in tr ng dy
e
R v in tr stator
s
R bng
khng; khng c ti trn thanh ci, gc pha u ca in p trn thanh ci 0
vs
u = .
Mc ch nghin cu l n nh tn hiu nh dp tt cc dao ng nn ta s
dng m hnh tuyn tnh ha xung quanh im lm vic.
Vit li cc phng trnh (2.167) (2.169), vi gi thit 0
s
R = ta c

( )
0
1
( )
q q d d d fd
d
E E X X I E
T
' ' ' = +
'
Equation Section 3(3.1)
0
o e e = (3.2)
E
V
t
Zu R
e
V
s
Zu
vs
Turbine
T
M

Kch t
AVR
E
fd

V
R

V
ref


+
V
PSS

Hnh 3.1. S khi iu chnh kch t my pht ni li

e
P
e A

jX
e
V
t

PSS
e
B
o
o
k

f
o
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Y
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53

( )
0
0
( ) ( )
2
M q q q d d q D
T E I X X I I K
H
e
e e e
( ' ' = +

(3.3)
cng nh cc phng trnh i s stator
sin( ) 0
q q t
X I V o u = (3.4)
cos( ) 0
q t d d
E V X I o u ' ' = (3.5)
v
( /2)
( )
j j
d q t
V jV e Ve
o t u
+ = (3.6)
bi vy
( /2)
sin( ) cos( )
j j
d q t
d q t t
V jV Ve e
V jV V jV
u o t
o u o u

+ =
+ = +
(3.7)
suy ra sin( )
d t
V V o u = v cos( )
q t
V V o u = , thay
d
V v
q
V vo (3.4) v (3.5) ta
c
0
q q d
X I V = (3.8)
0
q q d d
E V X I ' ' = (3.9)
phng trnh li in l
( /2) 0
( /2)
( ) 0
( )
j
d q s j
d q
e e
V jV e V
I jI e
R jX
o t
o t

+ Z
+ =
+
(3.10)
( /2)
( )
( )
j
d q s
d q
e e
V jV Ve
I jI
R jX
o t
+
+ =
+
(3.11)
tch ra phn thc v phn o
sin
e d e q d s
RI X I V V o = (3.12)
cos
e q e d q s
RI X I V V o + = (3.13)
Bi vy, m hnh ton hc ca my pht in n gm cc phng trnh vi
phn (3.1) (3.3) v cc phng trnh i s (3.8), (3.9), (3.12) v (3.13)
Chng ta tuyn tnh chng xung quanh im lm vic vi cc bin
, , ,
d q d q
I I V V nh sau
Tuyn tnh ha cc phng trnh (3.8) v (3.9):
e
B
o
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k

f
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54


0 0
0
d d q
q q q d
V I X
V I E X
A A
( ( ( (
= +
( ( ( (
' A A A '

(3.14)
Tuyn tnh ha cc phng trnh (3.12) v (3.13) :

0
0
cos
sin
d d s e e
q q s e e
V I V R X
V I V X R
o
o
o
A A ( ( ( (
= + A
( ( ( (
A A

(3.15)
t (3.14) v (3.15) suy ra

0
0
0 cos ( )
sin ( )
d s e e q
q q s e d e
V V R X X
V E V X X R
o
o
o
A + ( ( ( (
= + A
( ( ( (
' ' A A +

(3.16)
t

1
( ) ( )
1
( ) ( )
e e q e e q
e d e e d e
R X X R X X
X X R X X R D

+ +
( (
=
( (
' ' + +

(3.17)
vi
2
( )( )
e e q e d
D R X X X X' = + + + (3.18)
gii ra tm s tm c
d
I A ,
q
I A

0 0
0 0
( ) cos ( )sin
1
sin ( )cos
d e q e s s q e q
q e e s s d e
I X X RV V X X E
I R RV V X X D
o o
o o o
A ' + + + ( A ( (
=
( ( (
A ' + + A

(3.19)
Tuyn tnh ha cc phng trnh (3.1) (3.3) ta c cc phng trnh vi
phn tuyn tnh:
0
0
0
0
0
0 0 0
1
0 0
0 0
0
2 2
1
( ) 0
1/ 0
0 0
0 0
0 1/ 2
1 1 1
( ) ( )
2 2 2
d q q
q
D
d d
d
d
d fd
q
M
q d q q q d q
T E E
I
K
H H
X X
T
T
I E
I
T
H
I X X X X I E
H H H
e o
o
e
e
(

(
' ( ' ' A A (
(
(
(
( = A
A
(
(
(
(
( A
A
(

(

(
'
(
'
' (
( A A ( (
(
+ +
( ( (
(
A
A
(
(

(
' ' '
(

(3.20)

thay
d
I A ,
q
I A t (3.19) vo (3.20) chng ta c
4
3 0 0 0
1 1
'
q q fd
d d d
K
E E E
K T T T
o ' ' A = A A + A
' '
(3.21)
0
o e e A = A (3.22)
e
B
o
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k

f
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55

2 1
1
2 2 2 2
D
q M
K K K
E T
H H H H
e o e ' A = A A A + A (3.23)
hoc vit di dng ma trn
4
3 0 0 0
0
2 1
1
0
1/ 0
0 0 0 0
0 1/ 2
2 2 2
d d q q d
fd
fd
D
K
K T T E E T
E
E
K K K H
H H H
e o
o
e
e
(

(
' ' ' ' ' ( A A ( (
(
A
(
(
( (
= A + (
A
(
(
( (
A
(

(
( ( A
A

(

(

(3.24)
trong :

0 0
( ) / e e e e A = (3.25)

1
3
( )( )
1
d d q e
X X X X
K
D

' +
(
= +
(

(3.26)

4 0 0
( )
( )sin cos
d d S
q e e
X X V
K X X R
D
o o
'
( = +

(3.27)
2 0 0 0 0
1
( )( ) ( )
q q d q q e e d q d e q
K I D I X X X X R X X I R E
D
' ' ' ( = + +

(3.28)

1 0 0 0
0 0 0 0
1
[ ( ){( )sin cos }
{( ) }{( )cos sin }]
q S d q q e e
s d q d q d e e
K I V X X X X R
D
V X X I E X X R
o o
o o
' = +
' ' ' + + +
(3.29)
v

2 2
t d q
V V V = + (3.30)

0
0
q
d
t d q
t t
V
V
V V V
V V
A = A + A (3.31)
thay (3.19) vo (3.14) ta c

0 0
0 0
( sin ( )cos ) 0
1
( ) ( cos ( )sin )
d q e q e s s d e
q
q d q e d e s s q e q
I X R X RV V X X
E
I X X X X RV V X X E
D
o o
o o
o
' A + + ' ( ( ( A (
= +
( ( (
(
' ' ' A + + + A
A



(3.32)
thay (3.32) vo (3.31) ta c

5 6 t q
V K K E o ' A = A + A (3.33)
trong :
e
B
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f
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56


| |
0
5 0 0
0
0
0 0
0
1
sin ( ) os
cos ( )sin
q s d
e d e
t
S q
e d q e
t
XVV
K R X X c
D V
V V
R X X X
V
o o
o o

' = + +

' ( + +
`

)
(3.34)

0 0
0
6
0 0 0
( )
1
q d e q q
d
q e
t t t
V X X X V
V
K X R
D V V V
' +
= +
`
)
(3.35)
Cc h s
1 6
K K ln u tin c pht trin bi HeffronPhillips [25] v
sau l DeMelloConcordia [19] dng trong nghin cu cc dao ng tn s thp.
Cc phng trnh kch t v AVR:
Phng trnh biu din ng hc HTKT l cc phng trnh vi phn (2.170)
(2.172). Cc khu gii hn u ra kch t
max fd
E v
min fd
E ch tng thch vi h
thng phi tuyn. Cn trong nghin cu n nh tn hiu nh cc khu ny c b
qua, v vi cc nhiu lon nh th E
fd
lun lun nm trong gii hn. Cng nh vy
hm bo ha c b qua v ch kho st l xc lp. S khi HTKT c rt
gn trnh by trn hnh 3.2 vi cc phng trnh [14]

1
fd
R
E
d E
V
dt T
A
= A (3.36)

ef
( )
R R A
r t F
A A
d V V K
V V V
dt T T
A A
= A A A (3.37)
( )
F F F
R fd
F F E
d V V K
V E
dt T T T
A A
+ = A A (3.38)

Khi s dng HTKT thyristor loi ST1A [27], m hnh ch n gin nh hnh 3.3
1
A
A
K
sT +

1
E E
K sT +

AV
R

AE
fd

AV
t

Hnh 3.2. M hnh HTKT IEEE loi 1 vi tn hiu nh
+

1
F
F
sK
sT +

AV
F


AV
ref

+

e
B
o
o
k

f
o
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57


c phng trnh trng thi l

ef
( )
A fd fd A r t
T E E K V V = + (3.39)
tuyn tnh ha (3.39) ta c

ef
( )
A fd fd A r t
T E E K V V A = A + A A (3.40)
Cc phng trnh vi phn my pht (3.21) (3.23), phng trnh kch t
(3.40) v phng trnh i s (3.33) c s khi nh hnh 3.4. Trong ( )
exc
G s l
hm truyn ca h thng kch t.

Bng cch thay (3.33) vo (3.40) phng trnh (3.40) tr thnh

6 5
ef
1
A A A
fd q fd r
A A A A
K K K K K
E E E V
T T T T
o ' A = A A A + A (3.41)
Kt lun: M hnh khng gian trng thi ca hnh 3.4 gm cc phng trnh
(3.21) (3.23) v (3.41). Vit di dng ma trn v sp xp li ta c:
E
fd

3
0 3
1 ' +
d
K
sT K

K
6




Te

1
2Hs

0
s
e

K
1

e
+
+
AV
t

T
M

+
_ Eq
K
4

K
2


+
AV
ref

+

Hnh 3.4. S khi tuyn tnh ca my pht bao gm kch t & AVR

Kch t & AVR
Mch t
+

K
D



_
K
5


T
D

T
S

( )
exc
G s


+
V
t

E
fd

Kch t & AVR
_
Hnh 3.3. HTKT thyristor ST1A vi AVR
1
A
A
K
sT +

E
fdmin

E
fdmax

V
ref

e
B
o
o
k

f
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Y
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58


0
1 2
4
ef
0 3 0 0
5 6
0 0 0
0 0
0
2 2 2
0 1/ 2
1 1
0
0 0
/ 0
1
0
D
M
q q r
d d d
fd A A
fd
A A
A A A
K K K
H H H
T H
K
E E V
T K T T
E K T
E
K K K K
T T T
e
o
o
e
e
(
(
( A
A ( ( (
(
( ( (
A
A A
(
(
( ( (
= +
(
(

( ' ' ( A A ( A

' ' '
(
( ( (
A
(
A (

(
(


(3.42)
3.2. Phn tch nh hng ca PSS i vi n nh tn hiu nh
n nh tn hiu nh l kh nng cc my pht ng b duy tr tnh ng b
vi nhau sau khi chu cc nhiu lon nh. Vn ny da trn kh nng duy tr
im cn bng gia m men in t v m men c ca mi my pht ni vi HT.
S thay i m men in t ca mi my pht ng b trong giai on c s thay
i nh xung quanh im lm vic c th chia ra lm hai thnh phn [30]:

e S D
T K K o e A = A + A (3.43)
trong :

S
K o A l thnh phn m men thay i cng pha vi sai lch gc rotor v c
coi nh thnh phn m men ng b, K
S
l h s m men ng b. Thnh
phn m men ny tng sc ht gia rotor v t thng stator, lm gim gc o v
hn ch nguy c s c.

D
K e A l thnh phn m men thay i cng pha vi sai lch tc v c
coi nh thnh phn m men damping, K
D
l h s m men damping. Thnh
phn m men ny c c do tr pha hay sm pha ca dng kch t.
Hnh 3.5 l p ng t nhin ca h thng i vi cc nhiu nh, p ng ny
ph thuc vo mt s cc yu t nh im lm vic ban u, kh nng ca h thng
truyn ti, loi iu khin kch t c s dng. Khi mt my pht kt ni vi HT
ln, m khng c AVR (v d in p kch t l hng s) s mt n nh l do thiu
m men ng b. Theo l thuyt n nh my pht vn hnh n nh th vector
e
B
o
o
k

f
o
r

Y
o
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59

m men tng
e
T A phi nm gc phn t th nht, hay ni cch khc c AT
S
v
AT
D
phi dng.


Khi xt n AVR, nhn xt trn cng tng t (h s tng m men ng b
v m men damping phi dng). Ni chung, AVR loi p ng nhanh to ra
vector m men ln, thnh phn m men ng b ca AVR (T
S(AVR)
) c th ln
hn theo chiu dng, nhng thnh phn m men damping ca AVR (AT
D(AVR)
)
li tng theo chiu m, lm cho hot ng ca my pht c th khng n nh khi
m men damping tng m tu theo s cn bng gia cc gi tr AT
S
, AT
S(AVR)
,
AT
D
v AT
D(AVR)
.
Hnh 3.6 l s vector cc thnh phn m men khi khng xt n AVR v
khi xt n AVR nhanh (T
A
nh), mnh (K
A
ln) [4], vector m men AVR c xu
hng gn vi - 90
0
hn, v tn s dao ng in hnh l khong 0,1 2Hz, nm
trong vng - 90
0
n - 20
0
. Bi vy, ta thng biu din n xung quanh - 80
0
. Theo
phn tch trn, trng hp ny my pht b mt n nh.
o
t
0
e
o
T
S

T
D

n nh
- T
S
dng
- T
D
dng
o
t
0
e
o
T
S

T
D

Mt n nh
dao ng
- T
S
dng
- T
D
m
e T A
Hnh 3.5. p ng t nhin ca gc ti vi cc nhiu nh
e T A
e
B
o
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k

f
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r

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Hnh 3.7 l s khi tuyn tnh ca my pht vi kch t, AVR v PSS.
y l s m rng ca s hnh 3.4. Tn hiu u vo PSS l sai lch tc
e, tuy nhin cng c th s dng tn hiu khc nh sai lch cng sut ng P
a
.
Tn hiu u ra ca PSS c a n AVR. Cc khu gii hn u ra ca PSS v
gii hn u ra kch t khng th hin trn s .
E
fd

3
0 3
1 ' +
d
K
sT K




Te

1
2Hs

0
s
e

K
1

e
+
+
AV
t

T
M

+
_ Eq
K2

+
AV
ref

+
_
Hnh 3.7. S khi tuyn tnh h my pht ni li vi kch t,
AVR v PSS


Kch t & AVR Mch t
+

K
D



_
K
5


T
D

T
S

G
PSS
(s)
V
PSS

( )
exc
G s
K6
K4
e
o
Vector m men khi cha k n AVR
Vector m men tng vi AVR
Vector m men ca AVR
T
S

T
S(AVR)

T
S
+T
S(AVR)

T
D

T
D(AVR)

T
D
+T
D(AVR)

Hnh 3.6. th vector cc thnh phn m men vi AVR
I
T A
T
I

exc
T A
e
B
o
o
k

f
o
r

Y
o
u
61

Quay li s hnh 3.4 phn tch cc thnh phn m men theo quan im
tn s thy c s cn thit ca PSS:
M men ni:
I
T A gm c:
+ Thnh phn T
D
thng qua K
D
t l vi e, n l thnh phn m men
damping dng
+ Thnh phn phn T
S
thng qua K
1
t l vi v n l thnh phn m men
ng b dng
M men phn ng phn ng:
ar
T A
Dng in phn ng (stator) lm gim t trng mch t (tc dng kh t).
nh hng ny thng qua mch vng K
4
, K
3
v K
2


0
2 3 4 2 3 4
3 0 3 0
180
1 1
ar
d d
K K K K K K T
sKT sKT o
Z A
= =
' ' A + +
(3. 44)
T (3.44) c th thy rng, pha ca m men in quan h vi o A , cho bi

0 1
3 0
180 arctan
ar d osc
KT e

' =
trong
osc
e l tn s dao ng c in tn s thp (0,1 2Hz)
nh hng ca phn ng phn ng to ra m men tng c thnh phn m men
damping tng (cng pha vi e) v thnh phn m men ng b gim (cng pha
vi ).
M men HTKT:
exc
T A
M men in ny l kt qu t cc mch vng qua K
5
v K
6
. T s khi ta c

( )
2 3
0 3
( )
1
exc exc ref t
d
K K
T G s V V
sT K
A = A A
' +
(3. 45)
trong ( )
exc
G s l hm truyn ca HTKT
B qua
ref
V A (n biu din s thay i in p trong qu trnh ci t). Thay
(3.33) vo (3.45) ta c:

( )
2 3
5 6
0 3
( )
1
exc exc q
d
K K
T G s K K E
sT K
o ' A = A A
' +
(3. 46)

2 3 6
5
0 3 2
( )
1
exc exc exc
d
K K K
T G s K T
sT K K
o
| |
A = A A
|
' +
\ .
(3. 47)
e
B
o
o
k

f
o
r

Y
o
u
62


( )
2 3 5
0 3 3 6
( )
1 ( )
exc exc
d exc
K K K
T G s
sT K K K G s
o

A = A
' + +
(3. 48)
Nu s dng HTKT tnh [27] c xt n khu n nh kch t th

( )
( )
2 3 5
0 3 3 6
(1 )
[(1 )(1 ) ] 1 (1 )
F
exc
F A F A d A F
K K K sT
T
sT sT K K sT K K K K sT
o
+
A = A
' + + + + + +

(3. 49)
vic phn tch n gin, coi rng mu s ca (3.49) l bc ba, thay s=j
osc
,
bin i v sp xp li ta c

( )( )( )
( )
2 3 5
1 1 2 2 3 3
(1 )
( ) ( ) ( )
F
exc
osc osc osc
K K K j T
T
j j j
e
o
o e e o e e o e e
+
A = A
+ + + + + +
(3. 50)
Pha ca
exc
T A quan h vi o A theo biu thc

3
1 1
1
tan tan
i osc
exc osc F
i
i
T
e e
e
o

=

+
=
trong
i
o l phn thc ca im cc
i i i
p j o e = + , (i=1-3) ca (3.50)
Thng thng cc tn s dao ng c in t 0,1 2Hz, nm trong vng t -
90
0
n - 20
0
v c xu hng gn vi - 90
0
i vi HTKT nhanh (T
A
nh) v h s
khuch i ln (K
A
ln). Bi vy, ta thng biu din vector
exc
T A xung quanh -
80
0
v ta thy rng thnh phn damping c th m trong iu kin ti nng. T :
- Tng gii hn K
A
nu c th. Nhng vi HTKT p ng nhanh v h s khuch
i ln li l iu kin thun li cho mt n nh ng. Nn ta khng thc hin
theo cch ny.
- To ra thm mt thnh phn m men b p cho thnh phn m men damping
b m. V c bn, tng ny l dch vector m men tng v pha sau, nm gc
phn t th nht. Tc l, cn to ra vector m men tng nm khong gia 20
90
0
, thnh phn vector m men b sung chnh l do PSS to ra (
PSS
T A ).
Hnh 3.8 minh ha s vector cc thnh phn m men khi c PSS. S th
hin nu b gc pha hp l c th nng h s m men damping tng ca h thng
ny ln. Hay ni cch khc trong trng hp ny PSS iu khin gc pha ca sc
in ng cm ng bn trong my pht ph hp vi Ae c xt n s tr pha ca
HTKT. T pht hin ny, nu trong qu trnh h thng lm vic m vn m bo
e
B
o
o
k

f
o
r

Y
o
u
63

cho vector m men tng lun nm gc phn t th nht th h thng s gi c
n nh v y chnh l mc ch ca vic thit k b iu khin PSS theo l thuyt
ti u RH

m s trnh by trong chng tip theo.

3.3. Phn tch cu trc cc PSS
V chc nng nhim v ca PSS phn tch trn. y ch quan tm cu
trc ca PSS. Hu ht cc hng sn xut u a ra cc gii php ca ring mnh,
tuy nhin theo chun IEEE 421.5.2005 [27] chng c th chia ra nh sau: PSS u
vo n v PSS u vo kp.
3.3.1. PSS u vo n PSS1A
Hnh 3.9 l dng chung ca mt PSS vi u vo n. Thng thng cc tn
hiu u vo c th l sai lch tc rotor, sai lch tn s hoc cng sut in.
Trong : h s
6
T c trng cho hng s thi gian ca b chuyn i in p, h
s khuch i t bi K
PSS
, tn hiu khu lc thng cao c t bi hng s thi
e
o
Vector m men tng vi AVR v PSS
Vector m men tng vi AVR
Vector m men ca AVR
Vector
m men
ca PSS
T
S

T
S(AVR)

T
S(PSS)

T
S
+T
S(AVR)

T
S
+T
S(AVR)
+ T
S(PSS)
T
D

T
D(AVR)

T
D(PSS)

T
D
+T
D(AVR)
+T
D(PSS)

T
D
+T
D(AVR)

Hnh 3.8. th vector cc thnh phn m men vi AVR & PSS
Vector m men khi khng k n AVR
e
B
o
o
k

f
o
r

Y
o
u
64

gian
w
T .
1
A v
2
A l cc h s khu lc xon . hai khi tip theo cho php hai
trng thi so snh leadlag i qua, c t bi hng s thi gian t
1
T n
4
T .

Trong cc nghin cu n nh tn hiu nh ngi ta thng quan tm ti cu
trc ca b n nh HT thng thng (CPSS) c tn hiu u vo l e A , vi hm
truyn nh sau:

w 3 1
w 2 4
1 1
( )
1 1 1
PSS PSS
sT sT sT
G s K
sT sT sT
+ +
=
+ + +
(3. 51)
Khu th nht ca phng trnh (3.51) l khu lc thng cao. N l tn hiu tt
dn vi tn s b hn ( )
w
1/T rad/s. S dng khu ny s m bo i vi vic
pht sinh khng thng xuyn ca in p u cc my pht i vi cc li ko di
v tn s h thng nh trong trng hp qu ti hoc iu kin lm vic c lp.
Hai khu b sm pha dng b vo s tr pha ca h thng. S khi ca CPSS
tng t nh hnh 3.9 m b qua khu th nht v khu th ba (
6 1 2
, , T A A rt nh
so vi cc h s khc).

3.3.2. PSS u vo kp
Cho d cc PSS da trn tn hiu tc chng minh hiu qu rt tt, nhng
thng th vn kh khn to ra tn hiu tc khng c nhiu nh cc thnh
phn dao ng xon ca trc. S c mt ca cc thnh phn ny u vo ca mt
PSS da trn tc c th gy ra qu kch t my pht. Nhng bin i m men
in dn ti nghin cu v cc thit k PSS da trn c tn hiu cng sut o c
[30], [32], [43]. Ta c phng trnh chuyn ng
( )
1
2
M e D
d
T T K
dt H
e
e
A
= A (3.52)
6
1
1 sT +

2
1 2
1
(1 ) As As + +
w
w
1
PSS
sT
K
sT +

1
2
1
1
sT
sT
+
+
3
4
1
1
sT
sT
+
+

Hnh 3.9. S khi ca PSS1A loi u vo n

f
P
e

V
PSSmax

V
PSSmin

V
PSS

V
S

Khu b lead-lag
Khu lc xon Khu lc thng cao
e
B
o
o
k

f
o
r

Y
o
u
65

trong :
0 0
( ) / e e e e A = l sai lch tc ; o l gc rotor (rad);
0 0
2 f e t = rad/s l tc (in); t l thi gian (s).
Phng trnh (3.52) th hin nguyn l hot ng ca cc PSS da theo cng
sut trc y. R rng sai lch tn hiu tc c th tnh c t s chnh lch
gia cng sut c v cng sut in. Tn hiu cng sut in c th o trc tip,
cng sut c khng th o trc tip m thay th bng cch d tnh da trn cch o
v tr ca van cp kh (turbine hi) hoc ca cng cnh hng (turbine thy lc),
nhiu khi ngi ta cn tnh da trn lu lng hi hoc nc c cp cho turbine.
V c sn hai tn hiu l cng sut v tc nn cch tnh ton ny c
thay th v u tin dnh cho mt phng php gin tip. Mc ch l nhm loi b
nhng thnh phn khng mong mun ra khi tn hiu tc trong khi vn trnh
c kh khn khi o tn hiu cng sut c. c c iu ny, mi quan h ca
phng trnh (3.52) c bin i li nhm t c tn hiu cng sut c trn vn t
cng sut in v tc .
2
M e
T dt H Tdt e A = A + A
} }
(3.53)
trong h s damping c ci t bng khng.
Cng sut c thng thay i t t tng ng vi tn s dao ng c in, tn
hiu cng sut c c c khi s dng khu lc thng thp. Khu lc thng thp
loi b nhng thnh phn c tn s cao (cc thnh phn xon v nhiu).
Tn hiu tc c c cui cng t c tn hiu tc v tn hiu tch phn
cng sut in c lc qua khu lc thng cao. tn s dao ng thp hn th u
ra c quyt nh ch yu l do cng sut in. Sau y ta xem xt chi tit mt s
cu trc PSS u vo kp theo cch phn loi ca IEEE.
3.3.2.1. PSS2A
Hai tn hiu u vo ca PSS2A thng l sai lch tc rotor v cng sut
in. C hai khu lc thng cao c trng bi hng s thi gian
w1 w4
( ) T T cng
hng s thi gian tch phn
6 7
( , ) T T . Thng thng
3
1
S
K = v
2 7
/ 2
S
K T H =
[27], vi H l hng s qun tnh ca my pht. Cc ch s M v N i theo b lc
ramptracking hoc simpler cho php lc cc thnh phn xon hoc cc nhiu.
B pha c cung cp bi hai khu lead lag hoc lag lead, vi hng s thi gian
1 4
( ) T T .
e
B
o
o
k

f
o
r

Y
o
u
66


3.3.2.2. PSS2B
Hnh 3.11 l s b n nh u vo kp PSS2B. PSS loi ny tng t nh
PSS2A (chun IEEE 421.5.1992), ch thm vo mt khu b pha vi hng s thi
gian tr
11
T v hng s thi gian vt
10
T . Cc s nguyn M, N c gi tr thng
thng l M = 5, N = 1 hoc M = 2, N = 4 [27].

3.3.2.3. PSS3B
M hnh PSS3B u vo kp c biu din trn hnh 3.12, mt u vo l
cng sut in P
e
v mt u vo l sai lch tc rotor Ae. Cc tn hiu ny c
s dng thay th cho tn hiu cng sut c. Bng cch kt hp tn hiu ny vi
cng sut in, s to ra mt tn hiu t l vi cng sut ng ( )
a
P A .
1 2
, T T l cc
hng s thi gian ca b chuyn i,
w1 w3
T T l cc hng s thi gian b lc cng
sut in, tc gc rotor v cng sut c thu c. Trong m hnh ny, cc tn
hiu n nh V
PSS
nhn c t vic tng hp vector ca tn hiu cng sut in v
sai lch tc .

W1
W1
1
sT
sT +

W2
W2
1
sT
sT +

6
1
1 sT +

W3
W3
1
sT
sT +
4
4
1
W
W
sT
sT +
2
7
1
S
K
sT +

8
9
(1 )
(1 )
N
M
sT
sT
(
+
(
( +

3 S
K

1
1
2
1
1
S
sT
K
sT
+
+

3
4
1
1
sT
sT
+
+

Cc khu lc thng cao
Khu lc xon
Cc khu lc thng cao
H s khuch i v
vt pha V
PSSmax

V
PSSmin

V
PSS

+
+
+
-

Hnh 3.10. S khi PSS2A (IEEE 421.5.1992)

e A
e
P

1
1
1
W
W
sT
sT +

W2
W2
1
sT
sT +

6
1
1 sT +

W3
W3
1
sT
sT +

W4
W4
1
sT
sT +
2
7
1
S
K
sT +

8
9
(1 )
(1 )
N
M
sT
sT
( +
(
+


3 S
K

1
2
1
1
sT
sT
+
+

Cc khu lc thng cao Khu lc xon
Cc khu lc thng cao
H s khuch i v vt pha
+
+
+
-
10
11
1
1
sT
sT
+
+

V
PSSmax

V
PSSmin

V
PSS
1 S
K
3
4
1
1
sT
sT
+
+

Hnh 3.11. S khi ca PSS2B

e
P
e A
2
e
P
dt
H
A
}

2 2
m e
P P
dt dt
H H
e
A A
= A +
} }

e
B
o
o
k

f
o
r

Y
o
u
67


3.3.2.4. PSS4B

PSS4B cho php lm vic trn ba di tn s tch bit nhau tng ng vi cc
dao ng tn s thp, tn s trung v tn s cao. Chng s dng tn hiu u vo l
sai lch tc e.
Hnh 3.13. S khi ca PSS4B (Multi-band PSS)
V
PSSmax

V
PSSmin

V
PSS

H

-
+
1 L
K

11 1
2
1
L L
L
K sT
sT
+
+

E
3
4
1
1
L
L
sT
sT
+
+

5
6
1
1
L
L
sT
sT
+
+

L
K
2 L
K
17 7
8
1
L L
L
K sT
sT
+
+

9
10
1
1
L
L
sT
sT
+
+

11
12
1
1
L
L
sT
sT
+
+

1 I
K
11 1
2
1
I I
I
K sT
sT
+
+


E
3
4
1
1
I
I
sT
sT
+
+

5
6
1
1
I
I
sT
sT
+
+

I
K
2 I
K
17 7
8
1
I I
I
K sT
sT
+
+

9
10
1
1
I
I
sT
sT
+
+

11
12
1
1
I
I
sT
sT
+
+

1 H
K
11 1
2
1
H H
H
K sT
sT
+
+

3
4
1
1
H
H
sT
sT
+
+

5
6
1
1
H
H
sT
sT
+
+

-

E
H
K
2 H
K
17 7
8
1
H H
H
K sT
sT
+
+

9
10
1
1
H
H
sT
sT
+
+

11
12
1
1
H
H
sT
sT
+
+

L-I

+
+
+

E
+
+
-
1
1
1 sT +

2
5 6
2
7 8
1
1
As As
As As
+ +
+ +

w1
1
w1
1
s
sT
K
sT +

3
w3
1
sT
sT +

2
1 2
2
3 4
1
1
As As
As As
+ +
+ +

Hnh 3.12. S khi ca PSS3B
P
e

V
PSSmax

V
PSSmin

V
PSS

V
S

2
1
1 sT +

w2
2
w2
1
s
sT
K
sT +


E
+
+
e
B
o
o
k

f
o
r

Y
o
u
68

Di tn thp thng tng ng vi cc dao ng ton cu (global), di tn
trung tng ng vi cc dao ng lin khu vc (interarea) v di tn cao tng
ng vi dao ng cc b (local). Mi di tn c ci t vi khu lc, h s
khuch i v khu gii hn khc nhau. Tn hiu u ra ca chng c tng hp
ri cho qua khu gii hn cui cng V
PSSmax
/V
PSSmin
trc khi a n AVR.
PSS4B o sai lch tc theo hai knh: Knh
L I
e

A l knh dng cho di tn
thp v trung, knh
H
e A dng cho di tn cao. M hnh thay th ca hai b chuyn
i sai lch tc cho trn hnh 3.14. Cc b lc tuneable notch c th c la
chn cho cc kiu dao ng xon ca my pht [27].

3.4. Phn tch cc thnh phn trong PSS2A/2B
3.4.1. Tn hiu tc
Tc trc c th c o trc tip, hoc thu c t tn s ca mt tn hiu
in p b xut pht t cc my bin in p v bin dng in. Nu o trc tip,
tc trc thng c ly t mt cc t v b tr bnh rng. Trong cc my pht
turbine ngang trc hot ng 1800 vng/pht hoc 3600 vng/pht, thng thng
c sn nhiu bnh rng vi mc ch o tc v iu khin. V tr trc khng quan
trng min sao l n c gn trc tip vo trc chnh my pht. Vi cc my pht
turbine trc ng, vic o trc tip tc l tng i kh, c bit khi trc phi
chu mt lng ln chuyn ng bin trong ch vn hnh bnh thng. nhng
my pht ny, tc lun c ly t mt tn hiu tn s b.

L-I

H

B chuyn i s La chn
B lc
3
4 2 2
1, 759 10 1
1, 2739 10 1, 7823 10 1
s
s s

+
+ +

e
P

2
3 2
80
82 161 80
s
s s s + + +

e A

1
1 2Hs +

B lc
Hnh 3.14. M hnh b chuyn i sai lch tc ca PSS4B
e
B
o
o
k

f
o
r

Y
o
u
69


Trong trng hp khc, tn hiu thu c phi c chuyn sang mc t l
vi tc (tn s). Hai khu lc thng cao c a vo loi b mc tc
trung bnh, to ra mt tn hiu sai lch tc , iu ny m bo rng PSS ch tc
ng vi nhng thay i v tc v hon ton khng thay i in p t u cc
my pht. Mi khu lc thng cao (hnh 3.15) c thc hin vi hm truyn i
km trong khong iu chnh hng s thi gian l:
w
1 20 s T s s s [27].
3.4.2. Tn hiu cng sut in

Cng sut in u ra ca my pht nhn c t in p th cp bin p o
lng v cc dng in th cp bin dng o lng. Cng sut ny c lc qua hai
khu lc thng cao to ra tn hiu sai lch cng sut cn thit. Sau tn hiu ny
c tch phn v chia cho hng s qun tnh my pht 2H to ra tn hiu tch
phn sai lch cng sut in.
3.4.3. Tn hiu cng sut c
Nh m t trn y, sai lch tc v tch phn sai lch cng sut in c
kt hp vi nhau to ra mt tn hiu tch phn sai lch cng sut c. Tn hiu ny
sau c lc, mt khu lc c th di mt trong hai dng sau:

4
L
1
(1 ) sT +

Hnh 3.17. Cc cu hnh khu lc i vi cng sut c

5
L
(1+ 5 )
(1 )
L
s T
sT
(
(
+


Khu lc thng thp
bn cc

Khu lc ramp-tracking

e
W1
W1
1
sT
sT +

W2
W2
1
sT
sT +

Hnh 3.15. Khu lc thng cao
W3
W3
1
sT
sT +

W4
W4
1
sT
sT +

2
7
1
1
S
K
sT +

P
e

Hnh 3.16. Khu lc thng cao v tch phn rt gn
2
e
P
H
A
}

e
B
o
o
k

f
o
r

Y
o
u
70

Dng th nht, l khu lc thng thp bn cc n gin (simpler), dng i
ph vi cc thnh phn xon xut hin trong tc . Vi cc my pht nhit in,
hng s thi gian c th c chn lc tn s xon thp nht ca my pht.
Tuy nhin, yu cu thit k ny li mu thun vi vic to ra mt tn hiu cng sut
c hp l. c bit vn ny xy ra trn cc my pht thy in v chng d dng
c th c t s thay i cng sut c ln ti 10% trong mt giy. Vt qu gii hn
ca tn hiu cng sut c c th dn ti thay i qu mc tn hiu ra ca PSS trong
qu trnh mang ti v khng mang ti ca my pht.
Dng th hai, thng c gi l khu lc ramp tracking, to ra mt sai s
tnh bng khng i vi nhng thay i bm tn hiu tch phn cng sut in. iu
ny hn ch vic thay i u ra ca PSS ti mc thp nht i vi t l thay i
cng sut c, m thng gp phi trong qu trnh vn hnh ca cc my pht. Mc
iu chnh hng s thi gian b lc l: 0, 05 0, 2 s T s s s [27].
3.4.4. B pha v la chn tn hiu n nh
Nh m t di dng s khi n gin, tn hiu tc c hiu chnh
trc khi a ti PSS. Tn hiu ny c lc to ra vt pha cc tn s c in
cn dng, v d 0,1 2Hz . Yu cu vt pha l b vo s tr pha to ra bi b
iu chnh in p vng kn.

S hnh 3.18 m t phn b pha ca PSS. Hm truyn ca mi khu b pha
l mt dng kt hp n gin trong hng s thi gian tr v vt c iu chnh
trong khong: 0, 01 6 s T s s s [27].
3.4.5. Khu gii hn in p u cc
Khi PSS a vo hot ng thng qua module kch t, n c th lm mt tc
dng ca b iu chnh in p. Bi vy u ra ca PSS c gii hn ci t trong
phm vi:
max max
min max
min min
khi
khi
khi
PSS S PSS
PSS S PSS S PSS
PSS S PSS
V V V
V V V V V
V V V
>

= < <

(3.54)
1
2
1
1
sT
sT
+
+

3
4
1
1
sT
sT
+
+

V
PSSmax

V
PSSmin

V
PSS

V
S

1 S
K
Hnh 3.18. Khu khuch i v b pha
e
B
o
o
k

f
o
r

Y
o
u
71

3.5. nh gi hiu qu ca PSS i vi n nh gc ti
Sau khi c m hnh my pht v cc thnh phn lin quan, trong mc ny ta
s nh gi hiu qu ca PSS nh trnh by trn i vi n nh gc ti khi b
cc nhiu nh trong h thng tc ng.
3.5.1. Trng hp khng s dng PSS v c s dng PSS
S m phng trong Matlab cho trong ph lc I (hnh PLI.1)
PSS s dng y l loi CPSS c s khi nh hnh PLI.3
Thng s m phng cho trong ph lc II, ly theo [14]: M-file set1.m
Kt qu m phng trong Matlab.
Thi gian quan st trong khong (1930s), ti thi im 20s xut hin dao
ng [1]. Hnh 3.19 cho thy khi c nhiu lon tc ng, trng hp s dng CPSS
th bin gc ti tng cao nht l 40,5
0
, sau 4s th gc ti n nh 39,2
0
.
Cn nu
khng s dng PSS gc ti dao ng nhiu. Cc hnh 3.20 3.22 l p ng tc
rotor, sai lch tc rotor v CSTD my pht, quan st trn hnh v ta thy hiu qu
kh tt ca vic s dng CPSS i vi n nh cc dao ng.

19 20 21 22 23 24 25 26 27 28 29 30
38
38.5
39
39.5
40
40.5
41
Thoi gian (sec)
G
o
c

t
a
i

(
d
e
g
r
e
e
)


without PSS
CPSS
without PSS
CPSS

Hnh 3.19. p ng gc ti
19 20 21 22 23 24 25 26 27 28 29 30
0.9994
0.9996
0.9998
1
1.0002
1.0004
1.0006
1.0008
Thoi gian (sec)
T
o
c

d
o

(
p
.
u
.
)


without PSS
CPSS
without PSS
CPSS

Hnh 3.20. p ng tc rotor
19 20 21 22 23 24 25 26 27 28 29 30
-6
-4
-2
0
2
4
6
x 10
-4
Thoi gian (sec)
S
a
i

l
e
c
h

t
o
c

d
o

(
p
.
u
.
)


without PSS
CPSS
without PSS
CPSS

Hnh 3.21. p ng sai lch tc
19 20 21 22 23 24 25 26 27 28 29 30
0.78
0.79
0.8
0.81
0.82
0.83
0.84
0.85
0.86
0.87
Thoi gian (sec)
C
o
n
g

s
u
a
t

t
a
c

d
u
n
g

m
a
y

p
h
a
t

(
p
.
u
.
)


without PSS
CPSS
without PSS
CPSS

Hnh 3.22. p ng CSTD my pht P
e


e
B
o
o
k

f
o
r

Y
o
u
72


Kt qu m phng theo thi gian thc (chi tit trnh by mc 4.3.2).
With PSS
Without PSS

Hnh 3.23. p ng gc ti
With PSS
Without PSS

Hnh 3.24. p ng tc rotor
With PSS
Without PSS

Hnh 3.25. p ng sai lch tc rotor
Without PSS
With PSS

Hnh 3.26. p ng CSTD my pht P
e


Thi im xut hin nhiu l 2,5s tnh t ch xc lp, Cc kt qu m
phng thi gian thc trn cc hnh 3.23-3.26 cho thy cc p ng kh trng lp vi
kt qu m phng trong Matlab.
3.5.2. Trng hp s dng PSS1A v PSS2A
nh gi hiu qu gia cc loi PSS khc nhau ta thc hin so snh gia
hai loi PSS12A v PSS2A.
S m phng trong Matlab nh hnh PLI.2. Trong PSS1A, PSS2A c
s khi nh hnh PLI.3 v PLI.4.
S liu m phng cho trong ph lc II, ly theo [14]: Mfile set2.m; M
file setpss2a.m
Kt qu m phng trong Matlab [3] c th hin trn hnh 3.27-3.30
e
B
o
o
k

f
o
r

Y
o
u
73

19 20 21 22 23 24 25 26 27 28 29 30
37.5
38
38.5
39
39.5
40
40.5
Thoi gian (sec)
G
o
c

t
a
i

(
d
e
g
r
e
e
)


PSS1A
PSS2A
PSS1A
PSS2A

Hnh 3.27. p ng gc ti
19 20 21 22 23 24 25 26 27 28 29 30
0.9994
0.9996
0.9998
1
1.0002
1.0004
1.0006
1.0008
Thoi gian (sec)
T
o
c

d
o

(
p
.
u
.
)


PSS1A
PSS2A
PSS1A
PSS2A

Hnh 3.28. p ng tc rotor
19 20 21 22 23 24 25 26 27 28 29 30
0.79
0.8
0.81
0.82
0.83
0.84
0.85
0.86
0.87
Thoi gian (sec)
C
o
n
g

s
u
a
t

t
a
c

d
u
n
g

m
a
y

p
h
a
t

(
p
.
u
.
)


PSS1A
PSS2A
PSS1A
PSS2A

Hnh 3.29. p ng CSTD my pht P
e

19 20 21 22 23 24 25 26 27 28 29 30
-6
-4
-2
0
2
4
6
x 10
-4
Thoi gian (sec)
S
a
i

l
e
c
h

t
o
c

d
o

(
p
.
u
.
)


PSS1A
PSS2A
PSS1A
PSS2A

Hnh 3.30. p ng sai lch tc rotor
Khi dng PSS2A gc ti tng cao nht khong 40,3
0
sau 2,5s gc ti n nh
38,7
0
trong khi dng PSS1A th phi sau 4s gc ti mi n nh. Cht lng n nh
tc rotor v CSTD my pht cng tt hn khi dng PSS2A.
Hnh 3.31-3.32 l kt qu m phng theo thi gian thc: Khi s dng
PSS2A so vi PSS1A th bin dao ng gc rotor nh hn v gc ti nhanh
n nh hn, sau khong 2,5s gc ti gi n nh 38,8
0
, k c tc rotor cng
nhanh n nh hn.
PSS1A
PSS2A

Hnh 3.31. p ng gc ti
PSS1A
PSS2A

Hnh 3.32. p ng sai lch tc rotor
e
B
o
o
k

f
o
r

Y
o
u
74

3.6. Kt lun chng 3
Chng ny gii quyt c cc vn sau:
- Xy dng m hnh ton hc tuyn tnh ha xung quanh im lm vic ca
h my pht kt ni vi HT khi b nhiu lon nh tc ng, t a ra c
h phng trnh trng thi ca HT dng cho vic thit k b iu khin PSS
sau ny.
Trn th vector gii thch bn cht vt l cc thnh phn m men khi
cha c AVR v khi c AVR. Kt qu phn tch cho thy nhc im ca vic
s dng AVR nhy cao do to nn thnh phn m men damping tng theo
chiu m, khin hot ng ca my pht khng n nh. Bng vic b sung thm
mt thnh phn vector m men cng pha vi sai lch tc s khc phc
c nhc im ca AVR.
Gii thiu cc cu trc ca PSS theo chun IEEE 421.5.2005, phn tch cc
thnh phn trong cu trc ca PSS2A/2B.
nh gi hiu qu ca PSS i vi n nh gc ti trong hai trng hp: i)
h thng khng s dng PSS v c s dng CPSS; ii) h thng s dng PSS1A v
PSS2A. Kt qu m phng trong Matlab v thi gian thc cho thy hiu qu kh tt
ca vic s dng PSS i vi n nh gc ti, dn n n nh tc rotor v CSTD
u ra my pht. Tuy nhin, bin v chu k dao ng vn cn kh ln. Bi vy,
vic xut thit k b iu khin PSS bn vng theo l thuyt ti u RH

nng
cao cht lng n nh gc ti hn na l iu cn thit.









e
B
o
o
k

f
o
r

Y
o
u
75

4 Chng 4. NG DNG IU KHIN TI U RH

THIT K PSS TI U CU TRC
Equation Section 4
4.1. Chuyn bi ton iu khin n nh tn hiu nh thnh bi ton iu
khin bn vng RH

Trc tin ta rt gn m hnh xp x tuyn tnh ca i tng m t hnh 3.4
v hnh 4.1.

Vit li phng trnh (3.42) di dng

| | | |
0
1 2
4
0 3 0 0
5 6
ef
0 0 0
0
2 2 2
1 1
0
1
0
0 0
0 1/ 2
0 0
/ 0
D
q q
d d d
fd
fd
A A
A A A
r M
A A
K K K
H H H
K
E E
T K T T
E
E
K K K K
T T T
H
V T
K T
e
o
o
e
e
(
(
( A
A ( (

(
( (
A
A
(
( (
=
(

' ( ' ( A A
' ' ' (
( (
A
(
( A (

(
(

( (
( (
( (
+ A + A
( (
( (

(4.1)
hay
| | | |
ef r M
q q
fd
fd
A B V C T
E E
E
E
o
o
e
e
( A
A
(
(
(
A
A
(
(
= + A + A
(
' ' ( A A
(
(
A
(
A


(4.2)
M hnh trn c hai u vo l: sai lch in p t
ef r
V A v sai lch m men
M
T A , hai u ra l:
Hnh 4.1. S khi rt gn dng trong nghin cu
Ae

AT
M

Ao

Kch t, AVR v
my pht
S(s)
AV
ref
e
B
o
o
k

f
o
r

Y
o
u
76

sai lch gc ti
| |
1 0 0 0
q q
fd fd
D
E E
E E
o o
e e
o
A A
( (
( (
A A
( (
A = =
' ' ( ( A A
( (
A A

(4.3)
v sai lch tc
| |
0 1 0 0
q q
fd fd
E
E E
E E
o o
e e
e
A A
( (
( (
A A
( (
A = =
' ' ( ( A A
( (
A A
( (

(4.4)
Vi cc ma trn h s:

0
1 2
4 0 3 0 0
5 6
0 0 0
/ 2 / 2 / 2 0
/ 0 1/ 1/
/ 0 / 1/
D
d d d
A A A A A
K H K H K H
A
K T KT T
K K T K K T T
e
(
(

(
=
' ' ' (
(


(4.5)

0
0
0
/
A A
B
K T
(
(
(
=
(
(

(4.6)

0
1/ 2
0
0
H
C
(
(
(
=
(
(

(4.7)
| |
1 0 0 0 D = (4.8)
| |
0 1 0 0 E = (4.9)
Hm truyn ca i tng ( ) S s m t hnh 4.1 cho bi:

11 12
21 22
( )
( ) ( )
( ) ( )
M
ref
S s
T S s S s
V S s S s
o
e
A
A | | | | | |
=
| | |
A
A
\ . \ .\ .
(4.10)
trong :
e
B
o
o
k

f
o
r

Y
o
u
77


11
12
21
22
( )
-
( )
-
( )
-
( )
-
DC
S s
sI A
DB
S s
sI A
EC
S s
sI A
EB
S s
sI A
=
=
=
=
(4.11)
Nh phn tch trong mc 3.2, khi b nhiu lon tc ng vi cch trang b
PSS hin c th gc ti o A vn b dao ng. Bi vy, ta xut b iu khin bn
vng PSS c s khi nh hnh 4.2.

trong :
Cc bin trng thi h thng
T
q fd
x E E o e ' ( = A A A A


Tn hiu ch o w
Tn hiu iu khin
ref PSS
u V V = A A
u ra o c y e = A
u ra (khng kim sot c) z o = A
u vo (nhiu)
M
p T = A
i tng S(s) hnh 4.2 c dng tng qut:

x Ax Bu Cp = + + (4.12)
z Dx = (4.13)
y Ex = (4.14)
T m hnh i tng iu khin, h kn hnh 4.2 s c ma trn hm truyn t:
Hnh 4.2. Bi ton iu khin ti u RH

y

p
Kch t, AVR v
my pht
S(s)
B iu khin
bn vng
R(s)
w

z

u

e
B
o
o
k

f
o
r

Y
o
u
78


11 12
21 22
( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
S s
S s S s Z s P s
S s S s Y s U s
| | | | | |
=
| | |
\ . \ . \ .
(4.15)
trong :
( ), ( ), Z( ), ( ) P s U s s Y s l nh Laplace ca ( ), ( ), ( ) p t u t z t v ( ) y t
Gi ( ) R s l ma trn truyn t m t b iu khin phn hi tn hiu ra ( ) Y s
ca i tng. Ta c ( ) ( ) ( ) ( ) U s W s R s Y s =
vi ( ) w t l tn hiu ch o v ( ) W s l nh Laplace ca n. Vy th

11 12 11 12 12
21 22 21 22 22
S S S S S R Z P P Z
S S S S S R Y W RY W Y
O
| | | | | | | | | | | | | |
= =
| | | | | | |
O
\ . \ . \ . \ . \ . \ . \ .
(4.16)

12 11 12
22 21 22
I S R S S Z P
I S R S S Y W
| | | | | | | |
=
| | | |
O +
\ . \ . \ . \ .


1
12 11 12
22 21 22
W
I S R S S Z P
I S R S S Y

| | | | | | | |
=
| | | |
O +
\ . \ . \ . \ .


( )
( )
1
12 22 11 12
1
21 22
22
I S R I S R S S Z P
S S Y W
I S R

| |
+
| | | | | |
| =
| | |
|
\ . \ . O + \ .
\ .


( ) ( )
( ) ( )
1 1
11 12 22 21 12 12 22 22
1 1
22 21 22 22
S S R I S R S S S R I S R S Z P
Y W
I S R S I S R S


| |
+ +
| | | |
| =
| |
|
\ . \ . + +
\ .
(4.17)

11 12
21 22
G G Z P
G G Y W
| | | | | |
=
| | |
\ . \ . \ .
(4.18)
T ma trn hm truyn h kn (4.17) ta thy quan h gia cc thnh phn
khng can thip c ca b iu khin l p z c biu din bi:
( )
1
11 11 12 22 21
( ) ( ) ( ) ( ) ( ) ( ) ( ) G s S s S s R s I S s R s S s

= + (4.19)
ln ca
11
( ) G s l thc o s nh hng ca p vo h thng m b iu
khin khng o trc tip c qua z v nhim v iu khin t ra y l thit k
b iu khin R(s) tha mn:
Lm h kn t w sang y n nh.
e
B
o
o
k

f
o
r

Y
o
u
79

C s nh hng ca nhiu p sang z l nh nht. Tc l s nh hng ca
M
T A n u ra o A l nh nht. iu ny tng ng vi
11
( ) min G s

.
Vi HTKT tnh (hnh 3.3) c thm tn hiu t PSS a n, th phng trnh
(3.40) tr thnh

ef
( )
A fd fd A r t PSS
T E E K V V V A = A + A A A (4.20)
v phng trnh (3.41) tr thnh

6 5
ef
1
A A A A
fd q fd r PSS
A A A A A
K K K K K K
E E E V V
T T T T T
o ' A = A A A + A A (4.21)
Vi gi thit
ef
0
r
V A = (n biu din s thay i in p trong qu trnh ci
t), phng trnh (4.1) c vit li cho ph hp l:

| | | |
0
1 2
4
0 3 0 0
5 6
0 0 0
0
2 2 2
1 1
0
1
0
0 0
0 1/ 2
0 0
/ 0
D
q q
d d d
fd
fd
A A
A A A
PSS M
A A
K K K
H H H
K
E E
T K T T
E
E
K K K K
T T T
H
V T
K T
e
o
o
e
e
(
(
( A
A ( (

(
( (
A
A
(
( (
=
(

( ' ' ( A A
' ' '
(
( (
A
(
A (

(
(

( (
( (
( (
+ A + A
( (
( (

(4.22)
hay | | | |
PSS M
q q
fd
fd
A B V C T
E E
E
E
o
o
e
e
( A
A
(
(
(
A
A
(
(
= + A + A
(
' ' ( A A
(
(
A
(
A


(4.23)
cc ma trn h s by gi s l:
A tnh theo (4.5)
| |
0 0 0 /
T
A A
B K T = (4.24)
C tnh theo (4.7); D tnh theo (4.8); E tnh theo (4.9)
e
B
o
o
k

f
o
r

Y
o
u
80

4.2. Thit k b iu khin bn vng RH

4.2.1. Khi nim c bn v l thuyt iu khin ti u RH

Khng gian vector chun v cng (H )

, l khng gian cc hm phc hay ma

trn phc ( ) G s ca bin phc s C e m trong na h mt phng phc bn phi, tc
l khi Re( ) 0 s > , trong Re(.) l k hiu phn thc ca s phc s , tho mn:
l hm gii tch (kh vi phc),
b chn.
Gi tr nh nht trong s tt c nhng gi tr chn trn ca ( ) G s trong na h
mt phng phc bn phi c gi l chun v cng ca ( ) G s v k hiu l:
Re( ) 0
Re( ) 0
sup ( ) khi ( ) l hm
sup ( ) khi ( ) l ma trn
s
s
G s G s
G
G s G s o
>

>

(4.25)
trong ( ) A o l k hiu ch gi tr suy bin ln nht ca ma trn A, tc l gi tr
ring ln nht ca ma trn tch xc nh dng
H
G G. Theo nguyn l cc i
Modulus, chun G

trong H

c tnh n gin hn so vi cng thc (4.25)

sup ( ) khi ( ) l hm
sup ( ) khi ( ) l ma trn
G j G s
G
G j G s
e
e
e
o e

(4.26)
V theo nh ngha, hm ( ) G s gii tch trong na h mt phng phc bn phi l
min c bin l trc o.
V phng din iu khin, ngi ta quan tm c bit ti khng gian con ca
H

, k hiu l RH

, gm cc hm ( ) G s hay ma trn c cc phn t ( )

ij
G s l hm
thchu t. Ta c th thy t (4.26) rng cn v mt hm ( ) G s thchu t
thuc khng gian RH

c chun hu hn l:
- hp thc, tc l bc ca t s nh hn hoc bng bc ca mu s hay

0 1
0 1
...
lim ( ) lim , ,
...
m
m
i i
n
s s
n
b bs b s
G s a b
a a s a s

+ + +
= < e
+ + +
R
- bn, hay tt c cc im cc ca cc phn t trong ( ) G s u nm bn tri trc o.
e
B
o
o
k

f
o
r

Y
o
u
81

Nh vy, gi tr G

hon ton xc nh c theo phng php gii tch

hay thc nghim.
4.2.2. Cc bc thc hin bi ton iu khin ti u RH

Xt h thng iu khin m t hnh 4.2, trong S(s) l m hnh ca i
tng iu khin, R(s) l m hnh b iu khin v p l tn hiu khng mong mun
tc ng vo h cng nh z nh hng ti cc h khc xung quanh n.
Bi ton iu khin RH

c thc hin qua hai bc:

1. Xc nh tp tt c cc b iu khin lm h kn t w sang y hnh 4.2 n
nh. Ta s k hiu tp l (s).
2. Tm mt phn t ( ) R s c th trong tp (s) sao cho vi n c c nhy
cm vi sai lch m hnh AS v vi nhiu p cng nh quan h G
pz
(s)

l
nh nht.
4.2.2.1. Xc nh tp (s) cc b iu khin lm h SISO n nh
a) Trng hp i tng S(s) l n nh
Xt h c cc khu SISO vi cu trc cho hnh 4.2, gi thit i tng S(s)
l n nh, hay S(s)e RH

. Bi ton t ra l xc nh tp (s) gm tt c cc b
iu khin lm n nh h thng. Gi
( )
1
R
Q s
RS
=
+
( )
1
Q
R s
QS
=

(4.27)
Vi b iu khin trn, hm truyn ca h kn ( )
y
w
G s , tc l hm truyn t
gia tn hiu vo w(t) v tn hiu ra y(t) l
( ) (1 )
1
y
w
S
G s SQ S
SR
= =
+

Nh vy, nu Q(s) l hm bn, tc l Q(s)e RH

, th ( )
y
w
G s cng l hm bn,
tc l h kn n nh bn vng vi nhiu u ra. T [2]:
e
B
o
o
k

f
o
r

Y
o
u
82

Nu h kn c i tng n nh S(s) e RH

th mi b iu khin R(s) xc
nh theo (4.27), trong Q e RH

s lm cho h kn n nh bn vng vi nhiu.

Ni cch khc, tp (s) gm tt c cc b iu khin lm n nh h thng c dng
ph thuc tham s Q nh sau:
( ) ( ) RH
1
Q
s R s Q
QS


= = e
`

)
(4.28)
b) Trng hp i tng S(s) l khng n nh
Khi h c i tng

0 1
0 1
... ( )
( )
( ) ...
m
m
n
n
b b s b s B s
S s
A s a a s a s
+ + +
= =
+ + +
vi msn (4.29)
khng n nh, tc l S(s)e RH

, hay A(s) khng phi a thc Hurwits, ta lun

chuyn c v trng hp xt trn bng cch bin i

( )
( )
( )
N s
S s
M s
= vi N, Me RH

(4.30)
tc l c hm thc hu t t s N(s) v mu s M(s) l nhng hm bn. Tht vy,
ta chia c a thc B(s) v A(s) ca (4.29) cho mt a thc Hurwitz C(s) no :

0 1
( )
l
l
C s c c s c s = + + + , nsl (4.31)
l s thu c hai hm bn

( )
( )
( )
B s
N s
C s
= v
( )
( )
( )
A s
M s
C s
=
Gi s b iu khin R(s) c cu trc tng t

( )
( )
( )
U s
R s
V s
= vi , RH U V

e (4.32)
th hm truyn ca h kn ( )
y
w
G s , m t quan h gia tn hiu gia tn hiu vo w(t)
v tn hiu ra y(t) l
e
B
o
o
k

f
o
r

Y
o
u
83

( )
1
y
w
S NV
G s
SR NU MV
= =
+ +

R rng, nu nh c c quan h ng dng Bezout
1 NU MV + = (4.33)
th ( )
y
w
G s l hm bn, tc l h kn n nh bn vng. Nh vy, vn xc nh b
iu khin (4.32) lm h n nh ch cn l , RH U V

e tho mn (4.33). Song
phng trnh Bezout (4.33) li c v s nghim, v chng hn khi c mt
nghim l
1 NX MY + = vi , RH X Y

e (4.34)
th tt c cc hm
U=X+MQ v V=YNQ vi mi tham s Qe RH

, cng s l nghim ca n.
Bi vy, nu i tng c hm truyn dng

( )
( )
( )
N s
S s
M s
= vi , RH N M

e
th tp hp (s) gm tt c cc b iu khin lm h kn n nh c cu trc:
(s) = ( ) , , , , RH v 1
X MQ
R s X Y Q M N NX MY
Y NQ

+
= e + =
`

)
(4.35)
4.2.2.2.Tm R(s) trong (s) h c nhy nh nht
Xc nh hm nhy vi sai lch m hnh
n gin, ta xt h kn cho hnh 4.2. Hm truyn h kn l:

1
y
w
S
G
RS
=
+
(4.36)
Do m hnh i tng c cha sai lch AS nn trong hm truyn h kn cng c
mt sai lch AG tng ng. N biu din sai lch cht lng sinh ra bi AS. Hm nhy
biu din s nh hng ca AS ti cht lng h thng c nh ngha l:
e
B
o
o
k

f
o
r

Y
o
u
84


G
G
F
S
S
A
=
A

0
1
( ) lim
1
S
G
S dG
G
F s
S
G dS RS
S
A
A
= = =
A
+
(4.37)
v nhim v iu khin tip theo l phi xc nh R
*
(s)e(s) sao cho vi n c c:

1
min
1 ( ) ( )
F
R s S s

=
+
(4.38)
Chuyn bi ton ti u (4.38) thnh bi ton cn bng m hnh
Thay (4.35) vo (4.38) c:

1
( )
1 ( ) ( )
, ,
MY NQM
F s
R s S s MY NQM NX NMQ
MY NQM
T HQ T YM H NM
MY NX

= =
+ + +

= = = =
+

Khi bi ton ti u (4.38) tr thnh:

*
RH
arg min
Q
R T HQ

e
= (4.39)
vi , RH T H

e l bit.
Tm nghim bi ton ti u (4.39) cho h SISO
Xt trng hp c bit , RH T H

e c H(s) vi mt im khng duy nht s
0

nm bn phi trc o (k c s
0
=), khi t:

0 0 0 0
Re( ) 0
sup ( ) ( ) ( ) ( )
s
T HQ T HQ T s H s Q s T s

>
= > =
v vi
0
( ) ( )
( )
T s T s
Q
H s

= c im cc chnh l im cc ca T(s) v im khng

s=s
0
th

0
( ) T HQ T s =
Vy, nu
0
( ) ( )
( )
T s T s
H s

l hp thc th
0
( ) ( )
( )
T s T s
Q
H s

= chnh l nghim ca bi
ton ti u (4.39). Suy ra:

( )
( )
0 *
0
( ) ( )
( )
( ) ( )
XH M T s T s
R s
YH N T s T s
+
=

(4.40)
e
B
o
o
k

f
o
r

Y
o
u
85

trong :
, , , , , RH v 1
N
S X Y Q M N NX MY
M

= e + =
M rng trng hp c bit trn cho bi ton vi H(s) c m im khng s
1
,
s
2
, ., s
m
nm bn phi trc o, ta s p dng cng thc ni suy Nevannlinna
chuyn v bi ton ch cn c m1 im khng s
1
, s
2
, ., s
m1
nm bn phi trc
o. Sau li p dng Nevannlinna nhiu ln na cui cng c bi ton ch vi
N(s) c mt im khng duy nht s
1
nm bn phi trc o. trng hp cui cng
ny ta s c nghim
*
1
( ) R s tnh theo (4.40).
4.2.3. Thit k PSS ti u RH

4.2.3.1. Trnh t thit k
Bc th nht:
M hnh HT dng trong nghin cu ny trnh by trn. Vi thng s cc
phn t cho phn ph lc II (parameter.m). p dng (4.11) ta tnh c cc
hm truyn t:

2
11
4 3 2
41, 67 716,3 1201
( )
17, 46 103, 7 1205 1786
s s
S s
s s s s
+ +
=
+ + + +
(4.41)

12
4 3 2
5458
( )
17, 46 103, 7 1205 1786
S s
s s s s
=
+ + + +
(4.42)

3 2
21
4 3 2
0,1326 2, 28 3,823 (1, 23 014)
( )
17, 46 103, 7 1205 1786
s s s e
S s
s s s s
+ +
=
+ + + +
(4.43)

22
4 3 2
17,37 (2, 712 012)
( )
17, 46 103, 7 1205 1786
s e
S s
s s s s

=
+ + + +
(4.44)
s dng lnh pole
11
( ) S trong Matlab ta c kt qu:
-15,3254
-0,2370 8,3793i
-1,6582
e
B
o
o
k

f
o
r

Y
o
u
86

v tt c cc im cc ca
11 12 21 22
( ), ( ), ( ), ( ) S s S s S s S s u c phn thc m nn
bn thn i tng n nh.
T (4.17) ta vit c quan h gia cc thnh phn can thip c ca b iu
khin l y u c biu din bi:

22
22
22
1
S
G
S R
=
+
(4.45)
quan h gia cc thnh phn khng can thip c ca b iu khin l p z
c biu din bi (4.19) hay:

11 11 12 21
22
1
R
G S S S
S R
| |
=
|
+
\ .
(4.46)
Mc tiu l tm b iu khin R ph thuc tham s Q , vi RH Q

e (4.45)
n nh, v (4.46) a c v dng T HQ . n gin nht l chn

22 22
1 1
R Q
Q R
S R S Q
| |
= =
|
+
\ .
(cng thc (4.27)) (4.47)
Thay (4.47) vo (4.45) ta c
22 22 22
(1 ) G S S Q = (4.48)
Do (4.48) n nh (
22
S v Q u n nh) nn (4.47) l b iu khin chp
nhn c.
Bc th hai:
Bi bi ton
11
( ) min G s

, trong
11
( ) G s tnh theo (4.46) tng ng
vi min T HQ

(4.49)
2
11
4 3 2
41, 67 716,3 1201
( ) ( )
17, 46 103, 7 1205 1786
s s
T s S s
s s s s
+ +
= =
+ + + +
(4.50)
n nh
( )
3 2
12 21
8 7 6 5 4 3
2
723, 9 1, 245 004 2, 08 004 6, 715 011
34, 92 512, 2 6633 5, 642 004 3,124 005
1,824 006 4, 305 006 3,189e006
s e s e s e
H s S S
s s s s e s e s
e s e s
+ +
= =
+ + + + +
+ + +
(4.51)
cng n nh v c tt c cc im cc nm bn tri trc o:
-15,3254 0,0000i
e
B
o
o
k

f
o
r

Y
o
u
87

-0,2370 8,37934i
-0,2370 8,37934i
-1,6582; -1,6582
c cc im khng l -15,3098; -1,8827; 0,0000 hay H c thnh phn vi phn
V h l SISO v , RH T H

e , ( ) H s khng c mt im khng no
0
s nm
bn phi trc o. Bi vy theo [2] ta c:
*
0
( ) ( ) ( )
( ) ( )
T s T s E s
Q
H s F s

= =
(4.52)

trong :
( ) E s = -0,6724s
12
- 35,22s
11
- 782,4s
10
- 1,114e004s
9
- 1,264e005s
8
- 1,09e006s
7
-
7,047e006s
6
- 3,839e007s
5
- 1,333e008s
4
- 3,301e008s
3
- 4,949e008s
2
- 2,997e008s
+ 5,846e005
( ) F s =723,9s
7
+ 2,508e004s
6
+ 3,132e005s
5
+ 2,528e006s
4
+ 1,846e007s
3
+
4,738e007s
2
+ 3,726e007s - 1,199e-007
V Q
-
khng hp thc ( RH ) Q
-

e , nn theo [2] bng cch chia mu s ca

(4.52) cho a thc bc 5 (bng bc ca t tr i bc ca mu), ta c nghim cn ti u

*
*
5
( )
( ) ( 1)
Q E s
Q
F s es
= =
+
, vi 0, 03 e = ( 1 0 e > > nh ty ) (4. 53)
vi:
( ) E s =-0,6724s
12
- 35,22s
11
- 782,4s
10
- 1,114e004s
9
- 1,264e005s
8
- 1,09e006s
7
-
7,047e006s
6
- 3,839e007s
5
- 1,333e008s
4
- 3,301e008s
3
- 4,949e008s
2
- 2,997e008s
+ 5,846e005
( ) F s = 0,007239s
12
+ 0,6128s
11
+ 22,91s
10
+ 505,1s
9
+ 7451s
8
+ 7,957e004s
7
+
6,431e005s
6
+ 3,915e006s
5
+ 1,687e007s
4
+ 4,587e007s
3
+ 6,6e007s
2
+
3,726e007s - 1,199e-007
r rng
*
Q hp thc v bn v c cc im cc u nm bn tri trc o:
e
B
o
o
k

f
o
r

Y
o
u
88

-0,2370 8,3793i
-15,3254
-15,3098
-10,0170 0,0124i
-9,9934 0,0199i
-9,9791
-1,8827
-1,6582
0,0000
thay (4.44), (4.53) vo (4.47) ta c b iu khin ( ) ( ) / ( ) R s N s D s = (4.54)
vi:
( ) N s = -0,004867s
28
- 0,7519s
27
- 54,8s
26
- 2526s
25
- 8,35e004s
24
- 2,128e006s
23
-
4,383e007s
22
- 7,542e008s
21
- 1,108e010s
20
- 1,411e011s
19
- 1,572e012s
18
- 1,544e013s
17

- 1,341e014s
16
- 1,032e015s
15
- 7,021e015s
14
- 4,211e016s
13
- 2,213e017s
12
- 1,01e018s
11

- 3,954e018s
10
- 1,306e019s
9
- 3,564e019s
8
- 7,845e019s
7
- 1,348e020s
6
- 1,723e020s
5
-
1,52e020s
4
- 8,162e019s
3
- 1,984e019s
2
+ 3,89e016s - 125,2
( ) D s = 5,24e-005s
28
+ 0,009786s
27
+ 0,8675s
26
+ 48,8s
25
+ 1965s
24
+
6,056e004s
23
+ 1,49e006s
22
+ 3,018e007s
21
+ 5,14e008s
20
+ 7,483e009s
19
+
9,425e010s
18
+ 1,035e012s
17
+ 9,968e012s
16
+ 8,432e013s
15
+ 6,266e014s
14
+
4,079e015s
13
+ 2,314e016s
12
+ 1,134e017s
11
+ 4,74e017s
10
+ 1,66e018s
9
+
4,762e018s
8
+ 1,085e019s
7
+ 1,891e019s
6
+ 2,399e019s
5
+ 2,062e019s
4
+
1,065e019s
3
+ 2,479e018s
2
- 1,59e004s + 2,549e-011
Vi cng c h tr ca Matlab, ton b qu trnh tnh ton trn c vit
trong Mfile ham_truyen.m phn ph lc II.
4.2.3.2. Gim bc m hnh b iu khin
K thut iu khin bn vng thng to ra cc b iu khin bc cao. Chng
ta mong mun c b iu khin n gin hn thc hin trong thc t. Trong
e
B
o
o
k

f
o
r

Y
o
u
89

Matlab c sn cc thut ton gim bc tt nht ph hp vi yu cu v c im m
hnh. Cc bc tng qut gim bc m hnh nh sau [35], [38]:
Phn tch cc c tnh quan trng ca m hnh theo thi gian hoc p ng tn
s c c t p ng bc hoc th Bode.
Xc nh mt lnh gim bc thch hp bng cch v th cc gi tr suy bin
Hankel t m hnh ban u xc nh cc trng thi c th b i m khng
lm mt i cc c im chnh.
Chn mt thut ton gim bc trong mc Robust Control Toolbox nh:
balancmr, bstmr, schurmr, hanke.lmr, v ncfmr.
Ta c th truy cp vo cc thut ton gim bc thng qua giao din trong
Matlab. Cc phng php s dng cc bin php khc nhau cho kt qu rt gn nhau
gia cc m hnh ban u v m hnh sau khi gim bc. S la chn l ph thuc vo
mi ng dng, ta s chn m hnh bng cch so snh ng hc ca cc m hnh gim
bc vi m hnh ban u. Tuy nhin, nu kt qu khng tha ng, ta c th iu
chnh li cc tham s la chn li m hnh, thut ton, gii hn li,
Sau y l cc bc c th gim bc b iu khin (m chng trnh vit
trong Matlab cho trong ph lc II: Mfile giambac.m):
Kim tra ng hc ca m hnh bng cch phn tch p ng tn s:
Hnh 4.3 l p ng tn s ca m hnh ban u, ta thy ng hc ng quan
tm ca b iu khin nm di tn s t 1 n 20 rad/s, tr s quan tm nht tn
s 9 rad/s tng ng tn s 1Hz . Bin c tnh tn thay i t vng tn s
thp. Mc tiu ca chng ta l tm ra mt m hnh b iu khin bc thp hn
nhng vn bo tn cc ni dung thng tin trong di tn s ny.
-20
0
20
40
60
80
M
a
g
n
i t
u
d
e

(
d
B
)
10
-5
10
-4
10
-3
10
-2
10
-1
10
0
10
1
10
2
10
3
135
180
225
270
315
360
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)

Hnh 4.3. th Bode ca b iu khin
thit k (bc 28)
0 5 10 15 20 25 30
0
5
10
15
20
25
Hankel Singular Values of the Model (R)
Number of States
S
i
n
g
u
l
a
r

V
a
l
u
e
s

(
o
i )
6 dominant states.

Hnh 4.4. th gi tr suy bin Hankel
e
B
o
o
k

f
o
r

Y
o
u
90


bit trng thi ca m hnh c th c loi b mt cch an ton hay
khng, ta hy xem xt cc gi tr suy bin Hankel ca m hnh.
Hnh 4.4 l th gi tr suy bin Hankel, ta thy rng c 5 trng thi ch o.
Tuy nhin, s ng gp ca cc trng thi cn li vn cn ng k. Bi vy, ta ly 6
trng thi tm b iu khin xp x vi b iu khin ban u.
-50
0
50
100
150
200
250
M
a
g
n
i t
u
d
e

(
d
B
)
10
-12
10
-10
10
-8
10
-6
10
-4
10
-2
10
0
10
2
0
90
180
270
360
P
h
a
s
e

(
d
e
g
)


Comparing Original (R) to the Reduced model (Rr_add)
Frequency (rad/sec)
R- 28-state original
Rr_add - 6-state reduced

Hnh 4.5. So snh th Bode ca b iu
khin ban u v b iu khin gim bc
0 5 10 15 20 25 30
0
0.2
0.4
0.6
0.8
1
Multiplicative-Error Singular Values of the Model (R)
Number of States
S
i
n
g
u
l
a
r

V
a
l
u
e
s

(
o
i )

Hnh 4.6. Gi tr suy bin a li ca m hnh
R ban u
Trn hnh 4.5 l so snh p ng tn s ca b iu khin ban u v b iu
khin gim bc. Ta nhn thy p ng ng hc c s khc nhau nhiu, c bit
l trong vng tn s quan tm. Bi vy, ta tm cch xp x b iu khin theo thut
ton khc.
S dng ty chn mult ca hankelsv. Thut ton ny nhn mnh cc li
tng i ch khng phi tuyt i. Ta cn thm mt vo ngng ti thiu mun
t c, v d thm vo mt li d (chn d=0,001) vo m hnh ban u.
So snh gi tr suy bin a li (Multiplicative Error Bound) trn th hnh 4.6
ta thy vic chn gim bc b iu khin ban u v bc 6 l hon ton ph hp.
Hnh 4.7 l p ng tn ca ba m hnh b iu khin, ta thy rng ng hc ca
m hnh b iu khin s dng ty chn mult bo tn cc thng tin ca b iu
khin ban u, c bit l trong di tn s quan tm (0,1 2 ) Hz . thy c s
ph hp hn na ta c th so snh cc p ng bc trn th hnh 4.8.
e
B
o
o
k

f
o
r

Y
o
u
91

Quan st trn th ta thy thut ton gim bc i vi bi ton c th ny
l bstmr, v n cho p ng bc ph hp hn. T ta tnh c b iu khin
(bc 6) l:
( ) N s = -92,89s
6
-485,1s
5
-7567s
4
-2,809e004s
3
-3,099e004s
2
+53,51s -1,722e-013
( ) D s = s
6
+37,5s
5
+566,9s
4
+5136s
3
+3410s
2
-2,187e-011s +3,506e-026
-20
0
20
40
M
a
g
n
i t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
10
3
10
4
135
180
225
270
315
360
P
h
a
s
e

(
d
e
g
)


Comparing Original (R) to the Reduced models (Rr_add and Rr_mult)
Frequency (rad/sec)
R - 28-state original
Rr_add (balancmr)
Rr_mult (bstmr)

Hnh 4.7. So snh th Bode ca m
hnh b iu khin ban u v b iu
khin sau khi gim bc (Rr_add v
Rr_mult)
0 5 10 15
-100
-80
-60
-40
-20
0
20


Step Response
Time (sec)
A
m
p
l i t
u
d
e
R: 28-state original
Rr_add: 6-state (balancmr)
Rr_mult: 6-state (bstmr)
R:28
Rr mult (bstmr)
Rr add (balancmr)

Hnh 4.8. p ng bc ca ba m hnh
4.3. M phng b iu khin
4.3.1. M phng trong Matlab
Trong phn ny ta xem xt s lm vic ca b iu khin RH

so vi trng
hp s dng CPSS v trng hp khng s dng PSS trong vn gi n nh gc
ti. CPSS c s nh hnh PLI.3
S khi ca h thng dng m phng l s hnh 3.7, t s ny ta
xy dng s m phng trong Matlab nh hnh PLI.5 phn ph lc I.
Thng s m phng, m chng trnh c vit trong mi trng Matlab
7.10a trnh by trong phn ph lc II: Mfile parameter.m
Kt qu m phng:
Gi thit ti thi im 1s xut hin nhiu vo sau mt chu k li th mt [1].
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0 1 2 3 4 5 6 7 8 9 10
-6
-4
-2
0
2
4
6
x 10
-6
Thoi gian (s)
S
a
i

l
e
c
h

g
o
c

t
a
i

(
p
.
u
)


without PSS
CPSS
PSS Hinfi
without PSS
CPSS
PSS Hinfi

Hnh 4.9. p ng sai lch gc ti Ao

0 1 2 3 4 5 6 7 8 9 10
34.404
34.4041
34.4042
34.4043
34.4044
34.4045
34.4046
34.4047
34.4048
Thoi gian (s)
D
a
p

u
n
g

g
o
c

t
a
i

(
d
e
g
r
e
e
)


without PSS
CPSS
PSS Hinfi
without PSS
CPSS
PSS Hinfi

Hnh 4.10. p ng gc ti o

0 1 2 3 4 5 6 7 8 9 10
-2
0
2
4
6
8
10
12
14
16
x 10
-7
Thoi gian (s)
S
a
i

l
e
c
h

t
o
c

d
o

(
p
.
u
)


without PSS
CPSS
PSS Hinfi
without PSS
CPSS
PSS Hinfi

Hnh 4.11. p ng sai lch tc Ae
0 2 4 6 8 10
-1
-0.5
0
0.5
1
1.5
2
2.5
3
x 10
-5
Thoi gian (s)
S
a
i

l
e
c
h

C
S
T
D

(
p
.
u
)


without PSS
CPSS
PSS Hinfi
without PSS
CPSS
PSS Hinfi

Hnh 4.12. p ng sai lch CSTD AP
e

0 1 2 3 4 5 6 7 8 9 10
-2
-1
0
1
2
3
4
x 10
-6
Thoi gian (s)
S
a
i

l
e
c
h

d
i
e
n

a
p

d
a
u

c
u
c

(
p
.
u
)


without PSS
CPSS
PSS Hinfi
CPSS
PSS Hinfi
without PSS

Hnh 4.13. p ng sai lch in p u
cc AV
t


Hnh 4.9 4.13 l kt qu m phng vi in p trn thanh ci 1 .
s
V pu = ;
cng sut 0,8 0, 6 . S i pu = + ; tr khng ng dy 0; 0,1 .
e e
R X pu = = . Ta thy, khi
khng s dng PSS, gc ti, tc , CSTD u ra my pht dao ng nhiu. Trng
hp s dng PSS thit k theo l thuyt RH

th gc ti dao ng nh xung quanh

im lm vic, ch sau 2,5s gc ti tr v im lm vic ban u (gc 34,4
0
); tc
rotor n nh gn nh ngay lp tc, in p trn thanh ci v CSTD my pht c
s xo trn cht t nhng cng nhanh chng tr v gi tr ban u.
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4.3.2. M phng theo thi gian thc
4.3.2.1. Gii thiu v Card iu khin R&D DS1104 ca hng dSPACE
Card R&D DS1104 l mt thit b iu khin s hin i c s dng trong
nhiu lnh vc: iu khin ng c, iu khin robot, cc thc nghim v my bay,
t Card R&D DS1104 cho php rt ngn qu trnh thc nghim nh s kt ni
trc tip vi phn mn m phng Matlab Simulink, Card R&D DS1104 h tr
hu ht tt c cc khi v hm nh ngha bi Matlab Simulink trong cc lnh vc
k trn.
Card R&D DS1104 cung cp mt th vin Realtime trong Simulink, theo
cc cng I/O ca Card R&D DS1104 c biu din bng cc khi tng t nh
cc khi h tr Simulink. hiu chnh tn hiu xut nhp ta ch cn hiu chnh cc
thng s ca cc khi tng ng. Do vic truy xut tn hiu tr nn n gin hn
rt nhiu so vi cc phng php truyn thng. Hnh nh ca Card R&D DS1104
nh hnh 4.14.



Hnh 4.14. Hnh nh ca Card iu khin R&D DS1104

4.3.2.2. Thit lp mi trng lm vic dng cho m phng online
Mi trng lm vic Matlab/Simulink dng cho m phng online c thit
lp theo cc bc sau. Vo Simulation Configuration parameter Solver chn
nh dng sau (hnh 4.15):
- Start time: 0,0
- Stop time: inf
- Solver type: Fixedstep
- Fixstep size (chu k trch mu): 0,001
- Tasking mode for periodic sample times: Single Tasking
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Tip theo thit lp mi trng RealTime Workshop c giao din nh hnh
4.16, cho ph hp vi Card R&D DS1104
- System targret file: Rti1104.tlc

Hnh 4.15. Thit lp cho mi trng Solver
chy thi gian thc

Hnh 4.16. Thit lp cho mi trng Real
time workshop chy thi gian thc
4.3.2.3. Card giao din v h thng o lng
S khi m t mi lin h gia cc phn mn iu khin v thit b ngoi vi
nh hnh 4.17
Matlab/Simulink Control Desk
DS1104
CP1104 Oscilloscope Connector
COMPUTER
Thu thp, gim st
d liu DS1104
Lin kt vi phn
mm Matlab
Ngn ng lp trnh
ha (thut ton)
thc hin theo Real
Time Mode (RTM)


Hnh 4.17. Mi lin h gia cc phn mm iu khin

H thng hin th v o lng: My hin sng k thut s
4.3.2.4. Xy dng bn thit b m phng (hnh 4.18)
Phn iu khin bao gm:
My tnh PC c cu hnh Pentium IV tr ln, c ci t phn mm Matlab
7.0.4 v phn mm Control Desk Version 5.0. Card R&D DS1104 c g lp trn
Mainboard ca my tnh qua khe PCI v c lp trnh iu khin, gim st thng
qua my tnh.
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Card giao din v h thng o
Phn mn Control Desk i km vi DS1104 l cu ni gia m hnh v phn
cng bn ngoi. Control Desk cung cp cc cng c i thu thp d liu v hin tn
hiu t m hnh Simulink cng nh cc cng I/O ca DS1104. Theo tn hiu
cc cng I/O d dng c quan st trong qu trnh lm thc nghim.


Hnh 4.18. S bn thit b m phng
c th kt ni DS1104 vi my tnh PC ta cn thc hin mt s th tc sau:
- Khi ng Matlab v Simulink.
- Chun b cc khi c s dng trong Simulink xy dng s .
- Khi ng chng trnh Control Desk.
- Kt ni.
- Build m hnh Simulink, trong qu trnh Build Matlab s chuyn i m hnh
Simulink sang dng sdf (file m t h thng) v lu tr n trong b vi x l ca
Card R&D DS1104.
- Sau khi Build xong, file sdf s t ng c chuyn ti mi trng Control Desk,
file ny gm thng tin v cc bin c s dng trong m hnh Simulink.
Thit k phn iu khin: trn c s m phng offline bng MatlabSimulink ta
s dng chnh phn iu khin xy dng c, kt hp vi cc khi giao din ca
Card R&D DS1104 ly kt qu. Phn mm MatlabSimulink lin kt vi phn
mm Control Desk truyn cc gi tr bin, tham s iu khin, cn phn mm
Control Desk nhn cc bin, tham s iu khin trc tip Card R&D DS1104.

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4.3.2.5. Kt qu m phng
Vi chu k trch mu l 1ms
Hnh 4.194.22 l p ng sai lch gc ti, sai lch tc , sai lch CSTD v
sai lch in p u cc my pht, ta thy rng cht lng ca b iu khin PSS
thit k theo l thuyt RH

tt ln rt nhiu trong vn n nh dao ng. Nu

ti thi im 1s xut hin nhiu th vi b iu khin PSS
Hinfi
ch sau 2,5s gc ti
tr v gc lm vic ban u v bin dao ng cng nh hn; nu s dng CPSS
phi sau 4s gc ti mi dn n nh v bin dao ng cng ln hn.

PSS
Hinfi
CPSS
Without PSS

Hnh 4.19. p ng sai lch gc ti o
PSS
Hinfi
CPSS
Without PSS

Hnh 4.20. p ng sai lch tc
PSS
Hinfi
CPSS
Without PSS

Hnh 4.21. p ng sai lch CSTD P
e

CPSS
Without PSS
PSS
Hinfi

Hnh 4.22. p ng sai lch in p u
cc my pht V
t


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Kt qu thu c trn my hin sng k thut s (loi hai tia):
CPSS
PSS
Hinfi

Hnh 4.23. p ng sai lch gc ti c
CPSS v PSS
Hinfi

Without PSS
CPSS


Hnh 4.24. p ng sai lch gc ti c
CPSS v khng c PSS
CPSS
PSS
Hinfi

Hnh 4.25. p ng sai lch tc c
CPSS v PSS
Hinfi

CPSS
Without PSS


Hnh 4.26. p ng sai lch tc c
CPSS v khng c PSS
So snh cc p ng trn hnh 4.23 4.26 ta thy rng khi khng s dng PSS
bin dao ng gc ti, tc rotor l kh ln v ko di trong nhiu chu k. So
vi CPSS, b iu khin PSS
Hinfi
cho cht lng n nh gc ti v tc rotor tt
ln rt nhiu, gc ti n nh sau 2,5s.
4.4. Kt lun chng 4
Chng ny gii quyt c cc vn sau:
Chuyn bi ton iu khin n nh tn hiu nh thnh bi ton iu khin bn
vng. T , thy c nhim v cn phi thc hin khi thit k b iu khin PSS.
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Tng quan v l thuyt iu khin ti u v cc bc thit k b iu khin
bn vng PSS, cng vic thit k ny c thc hin qua hai bc: i) xc nh tp
tt c cc b iu khin (s) lm h kn n nh; ii) tm mt phn t R(s) trong tp
(s) sao cho vi n c c nhy cm vi sai lch m hnh AS v vi nhiu p
cng nh quan h G
pz
(s)

l nh nht. Vi cng c h tr l phn mm Matlab,

tm ra b iu khin bc 28. b iu khin c tnh kh thi trong thc t,
dng chun Hankel gim bc. Kt qu thu c l b iu khin bc 6.
M phng b iu khin trong hai trng hp. M phng trong Matlab v
m phng theo thi gian thc. Cc kt qu m phng cho thy b iu khin bn
vng PSS c tc dng r rt i vi vic rt ngn thi gian dao ng gc ti v h
thp c bin dao ng gc ti so vi cc b PSS truyn thng.



























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KT LUN V KIN NGH

1) Thng qua vic nghin cu ng dng l thuyt iu khin ti u RH

nng cao cht lng ca h iu khin n nh HT, lun n gii quyt
c cc vn chnh sau y:
Lun n nghin cu mt cch h thng v PSS. ng dng l thuyt iu
khin ti u RH

thit k PSS bn vng nng cao cht lng n nh HT. B

iu khin cho thy lm vic bn vng vi sai lch m hnh v vi nhiu. Ngoi ra
cht lng n nh li t nhy cm nht vi sai lch m hnh v nhiu, iu m
nhng phng php iu khin bn vng khng s dng l thuyt ti u, nh iu
khin bn vng loop shaping, iu khin bn vng theo nguyn l Kharitonov
khng c.
Lun n dng chun Hankel gim bc m hnh b iu khin, gip
cho vic thc hin b iu khin RH

c tnh kh thi trong thc t.
Lun n nh gi c hiu qu ca cc loi PSS trong vn gim cc
dao ng gc rotor (dao ng c in tn s thp) ca my pht in trong HT.
Kt qu ny s gip cho cc k s vn hnh HT hiu r hn v thit k PSS theo
l thuyt iu khin ti u RH

cng nh cch ci t PSS theo cc cu trc khc.

Kt qu nghin cu ca lun n m ra kh nng ng dng RH

PSS trong
HT thc t.
2) Kin ngh:
Lun n s gip cho cc nh thit k v k s vn hnh HT hiu r hn v
PSS hin ang s dng, ng thi cung cp, gii thiu thm mt b PSS mi c
thit k trn nn l thuyt ti u RH

. Tin ti ci t cho PSS mi ny, thay th

cc b PSS hin c nng cao cht lng n nh HT.
nng cao cht lng hn na cho h thng cn phi ci tin PSS. Vic ci
tin ny phi c da trn nguyn tc tng hp v thit k trc tip t m hnh phi
tuyn ca my pht, cng nh l thuyt iu khin ti u H

phi tuyn. y l mt
bi ton ln cn s h tr ca nhiu l thuyt iu khin khc nhau.
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DANH MC CC CNG TRNH C LIN QUAN N LUN N

CC BI BO:

1. Nguyn Hin Trung, Nguyn Nh Hin (2010), Nghin cu hiu qu ca
cc b n nh cng sut cho my pht in ng b kt ni li in, Tp
ch Khoa hc v Cng ngh i hc Thi Nguyn, 64(2), tr. 6369.
2. Nguyn Hin Trung (2010), Nghin cu nh hng ca b n nh cng
sut i vi n nh cc tn hiu nh trong h thng in n gin bng
phng php phn tch gi tr ring ca ma trn h thng, Tp ch Khoa hc
v Cng ngh i hc Thi Nguyn, 74(12), tr. 1419.
3. Nguyn Don Phc, Nguyn Hin Trung (2010), Thit k b quan st ti
u c thi gian hu hn v ng dng vo iu khin tch knh h tuyn tnh
bng phn hi u ra theo nguyn l tch, Tp ch Khoa hc v Cng ngh
cc trng i hc k thut, (77), tr. 3842.
4. Lu Tng Giang, Nguyn Hin Trung (2011), Nghin cu nng cao cht
lng turbine thu in nh cc tnh min ni pha Bc Vit Nam, Tp
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5. Nguyen Hien Trung, Nguyen Doan Phuoc (2012), Application of
optimization theory RH

to improve performance of power system

stabilizer, Tp ch Khoa hc v Cng ngh cc trng i hc k thut,
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TI NGHIN CU KHOA HC:

Nguyn Hin Trung, Nguyn Nh Hin (20082009), Nghin cu cc b n
nh h thng in (PSSs), cc thit b FACTS v iu khin phi hp gia
chng i vi vic tng cng n nh cc dao ng trong h thng in,
ti NCKH cp B, m s B2008TN0204.



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IEEE.
[51] Tsai M. C., Geddes E. J. M. and Postlethwaite I. (1992), Polezero cancel
lations and closedloop properties of RH

mixed sensitivity design problem,

Automatica, vol. 28, pp. 519530.
[52] Yaonan Yu (1983), Electric Power System Dynamics, Academic Press, Inc.
[53] Zhang P. and Coonick A. H. (2000), Coordinated synthesis of PSS
parameters in multimachine power systems using the method of inequalities
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applied to genetic algorithms, IEEE Transactions on Power systems, 15(2),
pp. 811816.
[54] Zhang Y., Chen G. P., Malik O. P. and Hope G. S. (1993), An artificial
neural network based adaptive power system stabilizer, IEEE Transactions
Energy Conversion, 8(1), pp. 7177.
[55] Zhou K., Doyle J. C. and Glover K. (1996), Robust and Optimal Control,
Prentice Hall.
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PH LC
I. CC S M PHNG
Ef'
Vsupp
Vt
Vref
Ef'
Vsupp
Vt
Vref
14
Tem1
13
pusl i p1
12
del ta1
11
Qgen1
10
Pgen1
9
|Igen|1
8
|Vt|1
7
Tem
6
pusl i p
5
del ta
4
Qgen
3
Pgen
2
|Igen|
1
|Vt|
Vi o
vqe1
Vi o
vqe
0
vde1
0
vde
exci ter1
exci ter
Vref
Vref*1
Vref
Vref*
dw
To Workspace5
w
To Workspace4
Pgen
To Workspace3
y1
To Workspace2
teta
To Workspace1
y
To Workspace
Pmecho
Tmecho1
Pmecho
Tmecho
Swi tch
Sum1
Sum
Step3
Step2
Si ne Wave
Scope9
Scope8 Scope7
Scope6
Scope5
Scope4
Scope3
Scope2
Scope13
Scope12
Scope11
Scope10
Scope1
Scope
Product
5
PSS_sw
Mux Mux1
Mux Mux
Model 1
Model
Ground1
Ground
dw
Goto7
dw1
Goto6
Pgen1
Goto3
Pgen
Goto2
teta1
Goto1
teta
Goto
-K-
Gai n1
-K-
Gai n
dw
From7
dw1
From6
w
From5
w1
From4
Pgen1
From3
Pgen
From2
teta1
From1
teta
From
In1 Out1
CPSS

Hnh PLI.1 4.27S m phng trong Matlab (CPSS v khng PSS)


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Ef'
Vsupp
Vt
Vref
Chay fi l e set1.m
Sau do chay fi l e PSS_2B.m
cuoi cung chay fi l e s4_pss2b.mdl
Ef'
Vsupp
Vt
Vref
14
Tem1
13
pusl i p1
12
del ta1
11
Qgen1
10
Pgen1
9
|Igen|1
8
|Vt|1
7
Tem
6
pusl i p
5
del ta
4
Qgen
3
Pgen
2
|Igen|
1
|Vt|
Vi o
vqe1
Vi o
vqe
0
vde1
0
vde
tmodel 1
tmodel
Ini ti al i ze
and pl ot
m4
exci ter1
exci ter
Vref
Vref*1
Vref
Vref*
dw
To Workspace5
w
To Workspace4
Pgen
To Workspace3
teta
To Workspace2
y1
To Workspace1 y
To Workspace
Pmecho
Tmecho1
Pmecho
Tmecho
Swi tch1
Swi tch
Sum1
Sum
Step3
Step2
Si ne Wave
Scope9
Scope8
Scope7
Scope6
Scope5
Scope4
Scope3
Scope2
Scope11
Scope10
Scope1
Scope
Product
5
PSS_sw1
5
PSS_sw
w
Pe
Out_pss
PSSS2A
In1 Out1
PSS1A
Mux Mux1
Mux Mux
Ground1
Ground
dw1
Goto5
dw
Goto4
Pgen1
Goto3
Pgen
Goto2
teta1
Goto1
teta
Goto
-K-
Gai n1
-K-
Gai n
dw
From8
dw1
From7
w
From6
Pgen
From5
w1
From4
teta1
From3
Pgen1
From2
Pe
From1
teta
From

Hnh PLI.2 4.28S m phng trong Matlab (PSS1A v PSS2A)

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1
Vpss
sTw
Tw.s+1
Wash- Out
Sensor
Kpss
Overal l
Gai n
Li mi ter
T3.s+1
T4.s+1
Lead-l ag #2
T1.s+1
T2.s+1
Lead-l ag #1
1
dw

Hnh PLI.3 4.29S khi ca CPSS (PSS1A)



1
Out_pss
In1 Out1
ramp tracki ng
fi l ter
Tw4_2.s
Tw4_2.s+1
Transfer Fcn9
Tw1_2.s
Tw1_2.s+1
Transfer Fcn7
Tw1_2.s
Tw1_2.s+1
Transfer Fcn6
T3_2.s+1
T4_2.s+1
Transfer Fcn5
T1_2.s+1
T2_2.s+1
Transfer Fcn4
T7_2.s+1
1
Transfer Fcn3
Tw3_2.s
Tw3_2.s+1
Transfer Fcn2
T6_2.s+1
1
Transfer Fcn1
Scope2
Saturati on
-K-
Gai n3
-K-
Gai n2
-K-
Gai n
2
Pe
1
w

Hnh PLI.4 4.30 S khi ca PSS2A


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detal _Vref
detal _Vt
del ta_Pe
wb
wb
-K-
rad2deg1
In1 Out1
exci ted1
K3
den(s)
Transfer Fcn
Step3
Step2
Si ne Wave
Scope33
Scope20
Scope2
Scope1
Scope
Product
K4
K4
K1
K1
1
s
Integrator1
1
s
Integrator
-T-
Goto4
del ta22
Goto3
-T-
Goto2
del ta2
Goto1
-T-
Goto
K5
Gai n2
K6
Gai n1
K2
Gai n
-K-
Dw
0
Constant1
del ta
Constant
delta_w delta_Upss
CONTROLLER
-K-
1/2H

Vt
To Workspace4
del ta1
To Workspace3
del ta
To Workspace2
dw
To Workspace1
dPe
To Workspace
Scope5 Scope4 Scope3
Scope2 Scope1
NO_PSS Hi nfi
del ta10
From9
del ta2
From8
del ta1
From7
del ta
From6
-T-
From5
-T-
From4
del ta_w
From3
-T-
From2
-T-
From14
-T-
From13
del ta12
From12
del ta22
From11
del ta11
From10
-T-
From1
-T-
From
CPSS

Hnh PLI.5 4.31 S m phng trong Matlab ca my pht in ng b ni li
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II. THNG S CA CC M HNH V THUT TON

set1.m
% parameters of synchronous generator set1
Perunit = 1 % parameters given in per unit of machine base
Frated = 50;
Poles = 4;
Pfrated= 0.9;
Vrated =24e3;
Prated=828315e3;
rs = 0.0048;
xd = 1.790;
xq = 1.660;
xls = 0.215;
xpd = 0.355;
xpq = 0.570;
xppd = 0.275;
xppq = 0.275;
Tpdo = 7.9;
Tpqo = 0.410;
Tppdo = 0.032;
Tppqo = 0.055;
H = 3.77;
Domega = 2;%nonzero to account for damper winding not
reprsented
KA = 200;
TA =.06;
VRmax = 1;
VRmin = -1;
TE = 0.052;
KE = -0.0465;
TF = 1.0;
KF = 0.0832;
AEx = 0.0012;
BEx = 1.264;
% parameter of PSS block
Ks = 120;
Tw = 1.4;
T1 = 0.02;
T2 = 0.03;
T3 = 0.024;
T4 = 0.24;
pss_limit = 0.1;
% parameter of line network
re = 0.027; %for real part of ac thevenin's source impedance
xe = 0.1; %for imag part of ac thevenin's source impedance
Vi = 1.0 + 0*j; %for phasor voltage at infinite bus
Si = 0.8 + 0.6*j; % for delivered complex power(lagging Q>0)
% ************* END OF INPUT BLOCK ***************
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% Calculate base quantities
we = 2*pi*Frated;
wb = we;
wbm=wb*(2/Poles);
Sbase = Prated/Pfrated;
% Use peak values of phase quantites for voltage and current
Vbase = Vrated*sqrt(2/3);
Ibase = sqrt(2)*(Sbase/(sqrt(3)*Vrated));
Zbase = Vbase/Ibase;
Ie = conj(Si/Vi);
Eqe = Vi + ((rs+re) + (xq+xe)*j)*Ie;
Vte = Vi + (re + xe*j)*Ie
deltat = angle(Vte);
delta = angle(Eqe);
Eqo = abs(Eqe);
I = (conj(Eqe)/Eqo)*Ie; % I = Ie*(cos(delta)-sin(delta)*j);
Iqo = real(I);
Ido = -imag(I);
Vio = abs(Vi);
Vto =(conj(Eqe)/Eqo)*Vte;%Vto= Vt*(cos(delta)-sin(delta)*j);
Vqo = real(Vto);
Vdo = -imag(Vto);
Sto = Vto*conj(I)
Eqpo = Vqo + xpd*Ido + rs*Iqo;
Edpo = Vdo - xpq*Iqo + rs*Ido
Efo = Eqo + (xd-xq)*Ido;
delio = delta
Pmecho = real(Sto);
% initialize excitation variables
VR = KE*Efo;
Vs = Efo*KF/TF;
Vref =abs(Vto)
Dz = (re+rs)*(re+rs) + (xe + xq)*(xe + xpd);

set2.m
% parameters of synchronous generator set2
Perunit = 1 % parameters given in per unit of machine base
Frated = 50;
Poles = 4;
Pfrated= 0.9;
Vrated =18e3;
Prated=828315e3;
rs = 0.0048;
xd = 1.790;
xq = 1.660;
xls = 0.215;
xpd = 0.355;
xpq = 0.570;
xppd = 0.275;
xppq = 0.275;
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Tpdo = 7.9;
Tpqo = 0.410;
Tppdo = 0.032;
Tppqo = 0.055;
H = 3.77;
Domega = 2;%nonzero to account for damper winding not
reprsented
KA = 50;
% KA = 200; high gain value for case 5
TA =.06;
VRmax = 1;
VRmin = -1;
TE = 0.052;
KE = -0.0465;
TF = 1.0;
KF = 0.0832;
AEx = 0.0012;
BEx = 1.264;
% parameter of PSS block
Ks = 120;
Tw = 1.;
T1 = 0.024;
T2 = 0.002;
T3 = 0.024;
T4 = 0.24;
pss_limit = 0.1;
% parameter of line network
re = 0.027; %for real part of ac thevenin's source impedance
xe = 0.1; %for imag part of ac thevenin's source impedance
Vi = 1.0 + 0*j; %for phasor voltage at infinite bus
Si = 0.8 + 0.6*j; % for delivered complex power(lagging Q>0)
% ************* END OF INPUT BLOCK ***************
% Calculate base quantities
we = 2*pi*Frated;
wb = we;
wbm=wb*(2/Poles);
Sbase = Prated/Pfrated;
% Use peak values of phase quantites for voltage and current
Vbase = Vrated*sqrt(2/3);
Ibase = sqrt(2)*(Sbase/(sqrt(3)*Vrated));
Zbase = Vbase/Ibase;

Ie = conj(Si/Vi);
Eqe = Vi + ((rs+re) + (xq+xe)*j)*Ie;
Vte = Vi + (re + xe*j)*Ie
deltat = angle(Vte);
delta = angle(Eqe);
Eqo = abs(Eqe);
I = (conj(Eqe)/Eqo)*Ie; % I = Ie*(cos(delta) - sin(delta)*j);
Iqo = real(I);
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Ido = -imag(I);
Vio = abs(Vi);
Vto = (conj(Eqe)/Eqo)*Vte;% Vto = Vt*(cos(delta)-
sin(delta)*j);
Vqo = real(Vto);
Vdo = -imag(Vto);
Sto = Vto*conj(I)
Eqpo = Vqo + xpd*Ido + rs*Iqo;
Edpo = Vdo - xpq*Iqo + rs*Ido
Efo = Eqo + (xd-xq)*Ido;
delio = delta
Pmecho = real(Sto);
% initialize excitation variables
VR = KE*Efo;
Vs = Efo*KF/TF;
Vref =abs(Vto)
Dz = (re+rs)*(re+rs) + (xe + xq)*(xe + xpd);

setpss2a.m
T1_2=0.12;
T2_2=0.035;
T3_2=0.1;
T4_2=0.2;
T6_2=0;
T7_2=2*3.77;
T8_2=0.5;
T9_2=0.1;
Tw1_2=10;
Tw2_2=10;
Tw3_2=10;
Tw4_2=0;
Ks1=100;
Ks2=0.99;
Ks3=1;

parameter.m
clear all
clc
% ************* END OF INPUT BLOCK ***************
% parameters of synchronous generator set 1
Perunit = 1; % parameters given in per unit of machine base
Frated = 50;
Poles = 4;
Pfrated= 0.9;
Vrated =18e3;
Prated=828315e3;
rs = 0;
xd = 1.790;
xq = 1.660;
xls = 0.215;
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xpd = 0.355;
xpq = 0.570;
xppd = 0.275;
xppq = 0.275;
Tpdo = 7.9;
Tpqo = 0.410;
Tppdo = 0.032;
Tppqo = 0.055;
H = 3.77;
Domega = 2;%nonzero to account for damper winding not
reprsented
KA = 50;
% KA = 200; high gain value for case 5
TA =.06;
VRmax = 1;
VRmin = -1;
TE = 0.052;
KE = -0.0465;
TF = 1.0;
KF = 0.0832;
AEx = 0.0012;
BEx = 1.264;
% Calculate base quantities
we = 2*pi*Frated;
wb = we;
wbm=wb*(2/Poles);
Sbase = Prated/Pfrated;
% Use peak values of phase quantites for voltage and current
Vbase = Vrated*sqrt(2/3);
Ibase = sqrt(2)*(Sbase/(sqrt(3)*Vrated));
Zbase = Vbase/Ibase;
re = 0; %for real part of ac thevenin's source impedance
xe = 0.1; %for imag part of ac thevenin's source impedance
Vi = 1.0 + 0*j; %for phasor voltage at infinite bus
Si = 0.8 + 0.6*j; % for delivered complex power(lagging Q>0)
Ie = conj(Si/Vi);
Eqe = Vi + ((rs+re) + (xq+xe)*j)*Ie;
Vte = Vi + (re + xe*j)*Ie;
deltat = angle(Vte);
delta = angle(Eqe);
Eqo = abs(Eqe);
I = (conj(Eqe)/Eqo)*Ie; % I = Ie*(cos(delta)-sin(delta)*j);
Iqo = real(I);
Ido = -imag(I);
Vio = abs(Vi);
Vto = (conj(Eqe)/Eqo)*Vte; % Vto = Vt*(cos(delta) -
sin(delta)*j);
Vqo = real(Vto);
Vdo = -imag(Vto);
mag_Vto =sqrt(Vqo*Vqo+Vdo*Vdo);
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Sto = Vto*conj(I);
Eqpo = Vqo + xpd*Ido + rs*Iqo;
Edpo = Vdo - xpq*Iqo + rs*Ido;
Efo = Eqo + (xd-xq)*Ido;
delio = delta;
Pmecho = real(Sto);% initialize excitation variables
VR = KE*Efo;
Vs = Efo*KF/TF;
Vref =abs(Vto);
Dz = (re+rs)*(re+rs) + (xe + xq)*(xe + xpd);
% compute nonlinear gains in transfer functions
Vq_ratio = Vqo/mag_Vto;
Vd_ratio = Vdo/mag_Vto;
co = cos(delta);
si = sin(delta);
K1 = (Eqo*Vio/Dz)*(re*si + (xe+xpd)*co) + (Iqo*Vio/Dz)*((xq-
xpd)*(xe+xq)*si - re*(xe-xpd)*co);
K2 = re*Eqo/Dz + Iqo*( 1 + (xq-xpd)*(xe+xq)/Dz );
K3 = 1/(1 + (xd-xpd)*(xe+xq)/Dz);
K4 = (Vio*(xd-xpd)/Dz)*((xe+xq)*si - re*co);
K5 = (Vio*Vq_ratio*xpd/Dz)*( re*co -
(xe+xq)*si)+(Vio*Vd_ratio*xq/Dz)*( re*si + (xe+xpd)*co);
%K51=xq*Vd_ratio*Vio*co/(xe+xq)-xpd*Vio*Vq_ratio*si/(xe+xpd);
K6 = Vq_ratio*(1 - xpd*(xe+xq)/Dz) + Vd_ratio*xq*re/Dz;

ham_truyen.m
clc
Tdo_p=Tpdo;
M=2*H;
Ka=KA;
Ta=TA;
D=Domega;
%khai bao ma tran a
a1=[0 2*3.1416*50 0 0;-K1/M -D/M -K2/M 0;-K4/Tdo_p 0 -
1/(Tdo_p*K3) 1/Tdo_p;-Ka*K5/Ta 0 -Ka*K6/Ta -1/Ta];
b1=[0;0;0;-Ka/Ta];
c1=[0;1/M;0;0];
e1=[0 1 0 0];
d1=[1 0 0 0];
s =tf('s');
%ma tran giua dau ra y voi dau vao u
S22=e1*inv(s*eye(4,4)-a1)*b1;
%ma tran giua dau ra y voi dau vao p(bien nhieu)
S21=e1*inv(s*eye(4,4)-a1)*c1;
%ma tran giua dau ra z voi dau vao u
S12=d1*inv(s*eye(4,4)-a1)*b1;
%ma tran giua dau ra z voi dau vao p
S11=d1*inv(s*eye(4,4)-a1)*c1;
%diem khong cua U=S12*S21
p_zero=zero(S12*S21);
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%diem cuc cua U
p_pole=pole(S12*S21);
%nghiem Q* duoc xac dinh (S11(s=0)=0.6742)
Q_dot=(S11-0.6724)/(S12*S21);
%Q_dot=S11/(S12*S21); %dinh ly 4.10
espp=0.1;
Q_dot_e=Q_dot/((espp*s+1)^5); %bai toan can toi uu
%Q_dot_e=Q_dot/((espp*s+1)^3); %bai toan can toi uu
%luat dieu chinh R duoc xac dinh
%R=Q_dot/(1-Q_dot*S22);
R=Q_dot_e/(1-Q_dot_e*S22);
num_R,den_R]=tfdata(R,'v');
R1=tf(num_R,den_R);

giambac.m
clc
%ve do thi bode ham truyen goc
bode(R);
grid on;
hsv_add = hankelsv(R);
bar(hsv_add)
title('Hankel Singular Values of the Model (R)');
xlabel('Number of States')
ylabel('Singular Values (\sigma_i)')
line([6.5 6.5],[0 15],'Color','r','linestyle','--
','linewidth',1)
text(4, 16,'6 dominant states.')
% Compute 6th-order reduced model (reduce uses balancmr
method by default)
[Rr_add,info_add] = reduce(R,6);
% Now compare the original model R to the reduced model
Rr_add
bode(R,'b',Rr_add,'r'), grid on
title('Comparing Original (R) to the Reduced model Rr\_add)')
legend('R - 28-state original ','Rr\_add - 6-state
reduced','location','northeast')
% using the mult option of hankelsv
hsv_mult = hankelsv(R,'mult');
bar(hsv_mult)
title('Multiplicative-Error Singular Values of the Model
(R)');
xlabel('Number of States')
ylabel('Singular Values (\sigma_i)')
% Use bstmr algorithm option for model reduction
[Rr_mult,info_mult] = reduce(R,6,'algorithm','bst');
%now compare the original model R to the reduced model
Rr_mult
bode(R,Rr_add,Rr_mult,{1e-2,1e4}), grid on
title('Comparing Original (R) to the Reduced models (Rr\_add
and Rr\_mult)')
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legend('R - 28-state original ','Rr\_add
(balancmr)','Rr\_mult (bstmr)','location','northeast')
step(R,Rr_add,Rr_mult,15) %step response until 15 seconds
grid on
legend('R: 28-state original ','Rr\_add: 6-state
(balancmr)','Rr\_mult: 6-state (bstmr)')
[a,b,c,d]=ssdata(Rr_mult);
[num_Rmul,den_Rmul]=ss2tf(a,b,c,d);
sys_Rmul=tf(num_Rmul,den_Rmul)

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