Ton Quang Toan - Vo Van Trien

GVHD:ThS.
NGUYN NG KHANG
N MN TNG HP H THNG IN-C
TRNG I HC CNG NGHIP HN
Cng ha x hi ch ngha Vit Nam
B MN T NG HA
c lp-T do-Hnh phc
N MN HC
TNG HP H THNG IN - C
Ging vin hng dn
: ThS.NGUYN NG KHANG
Nhm Sinh vin thc hin
: TN QUANG TON V VN TRIN
Lp
:IN 1
Kha
:3
Khoa
: CNG NGH K THUT IN
Tn ti
NGHIN CU H IU KHIN TC NG C KHNG NG B BA PHA
ROTO LNG SC BNG PHNG PHP IU KHIN VECT TA T THNG
ROTO (FOC)
NSVTH: TN QUANG TON V VN TRIN- LP 1K3
Page 1
GVHD:ThS.NGUYN NG KHANG
Li ni u
Ngy nay,ng c in c s dng rng ri trong mi lnh vc ca i

sng x hi,c bit l trong cc ngnh cng nghip sn xut hin i,v trong
nhiu lnh vc i sng khng th thiu cc ng c in,v vy cc loi ng
c in c ch to ngy cng hon thin hn,trong ng c in khng
ng b 3 pha chim t l ln trong cc ngnh cng nghip do ng c khng
ng b 3 pha c nhiu u im nh vic khi ng d dng,gi thnh r,vn
hnh m,kch thc nh gn,lm vic chc chn,c tnh lm vic t,bo qun
n gin,chi ph vn hnh v bo tr thp.tuy vy n c nhc im c tnh c
phi tuyn mnh nn trc y, vi cc phng php iu khin cn n gin,
loi ng c ny phi nhng ch cho ng c in mt chiu v khng c
ng dng nhiu.tuy nhin vi s pht trin mnh ca ngnh khoa hc k thut
ngy nay nh ngnh k thut vi x l,in t cng sut cng cc l thuyt iu
khin, truyn ng th vic ng dng ng c khng ng b 3 pha l c ng
dng rng ri trong h thng truyn ng iu chnh tc ca cc my sn
xut, thay th dn ng c mt chiu.
Trc y thng iu khin ng c bng cch iu chnh in p. y l mt
phng php n gin nhng cht lng iu chnh k c tnh ln ng u khng
cao. iu khin c chnh xc v hiu qu phi ni n phng php thay i
tn s in p ngun cung cp. Do tc ng c khng ng b xp x tc
ng b nn ng c lm vic vi trt nh v tn hao cng sut trt trong
mch rto nh. Tuy nhin phng php ny cn phc tp v t tin. thit b dng
bin i tn s l cc b nghch lu, c th l nghch lu trc tip hoc gin
tip. Ta c th s dng b bin tn l mt thit b tch hp c chnh lu, nghch lu
ln iu khin. Lut iu khin trong mi bin tn tu thuc vo nh sn xut.
Page 2
Hin nay iu khin ng c c nhiu bin tn bn sn trn th trng, t

khi cn phi thit k theo phng php kinh in na. Cc nh sn xut la chn
bin tn nhiu hn bng iu khin sao - tam gic hoc in tr ph hoc cc thit
b iu khin khc v n gn nh, iu khin chnh xc, tin cy, p ng c nhu
cu t ng ho v tng bc hin i ho x nghip ca h. Bin tn n gin
thng iu khin tc theo lut U/f m bo ng c sinh mmen tt nhng
cho cc h truyn ng yu cu cao hn th c bin tn iu khin theo vect ta t
thng roto (foc).
Mc ch ca n
Tuy hin nay cc loi bin tn c by bn v s dng rng ri trn th trng
ca cc hng Toshiba, Omron, Siemens ... vi nhiu phng php iu khin khc
nhau nh : theo lut U/f khng i, iu khin vect ta t thng roto.. nhng vic
tm hiu chn ra mt phng php thch hp hoc nghin cu tm ra mt
phng php iu khin mi sao cho ti u v gi thnh, chnh xc, tin cy
th vn cn nhng tranh lun v mi loi u c u nhc khc nhau.Bn n ny
ca chng em xin c trnh by r hn v phng php bin tn s dng lut
FOC (iu khin vecto ta t thng roto) bao gm cc phn chnh sau:
- Xy dng c s l thuyt thut ton FOC
- M phng bng Matlab nh gi p ng h thng bin tn dng thut ton
iu khin FOC chng minh vic ng n ca cng vic mnh ang lm
- i nh gi u nhc im bin tn s dng lut FOC v cng nh v tr ng
dng ca n.
Page 3
LI CM N
u tin em xin chn thnh gi li cm n su sc ti cc thy c gio trong
khoa in c bit l thy gio NGUYN NG KHANG,gio vin khoa in
trng I HC CNG NGHIP H NI ngi trc tip ging dy v
cho chng em kin thc hon thnh n mn hc ny.
L mt k s in tng lai chng em hiu r tm quan trng ca ng c khng
ng b 3 pha roto lng sc trong cng nghip,qu trnh sn xut v cng nh
tm quan trng ca vic iu khin tc n,trong c phng php iu
khin theo vect ta t thng roto (foc).
Do kin thc c hn cng nh cha c kinh nghim thc t nn bn n ny
ca chng em khng trnh khi nhng thiu st,em knh mong thy gio xem
xt v gp chng em hon thnh n ny c tt hn sau ny.
Em xin chn thnh cm n thy gio!
H ni,ngy 23/12/2011.
Nhm sinh vin thc hin
TN QUANG TON
V VN TRIN
Page 4
LI NHN XT CA GIO VIN

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Page 5
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MC LC
I.
XY DNG C S L THUYT THUT TON FOC
I.1.
VI NT S LC V NG C KHNG NG B ROTO LNG SC
I.2.
CC PHNG PHP IU KHIN TC NG C KHNG NG B
I.3.
I.3.1.
GII THIU CHUNG V FOC
I.3.2.
C S L THUYT THUT TON FOC
I.3.2.1.
M T TON HC NG C KHNG NG B 3 PHA
I.3.2.2.
PHP BIN I KHNG GIAN VECTO
I.3.2.3.
H PHNG TRNH C BN CA NG C TRONG KHNG GIAN VECTO
I.3.2.4.
CU TRC H THNG IU KHIN VECTO NG C KHNG NG B
I.3.2.5.
TNG HP CC B IU CHNH
I.3.2.6.
QUAN ST T THNG
1.3.3.
CU HNH IU KHIN FOC
II.
M PHNG BNG MATLAB NH GI H THNG BIN TN DNG

THUT TON IU KHIN FOC
2.1.
M PHNG BNG MATLAB
2.2.
NH GI H THNG BIN TN DNG THUT TON IU KHIN FOC
Page 6
III.
NH GI U NHC IM BIN TN S DNG LUT FOC V V TR
NG DNG
3.1.
U IM CA FOC
3.2.
NHC IM CA FOC
3.3.
V TR NG DNG CA FOC
NHM 35
I.
1.1.VI NT S LC V NG C KHNG NG B ROTO LNG SC
Ta i tng quan v ng c khng ng b l loi my in xoay chiu hai

dy qun trong ch c dy qun stato (dy qun s cp) nhn in t li
vi tn s fs, dy qun rto (dy qun th cp) c ni ngn mch (hoc c
khp kn qua in tr). Dng in trong dy qun rto c ly cm ng t
pha dy qun stato, c tn s fr v l hm ca tc gc rto r. So vi ng
c mt chiu, ng c khng ng b c u im v mt cu to v gi
thnh,lm vic tin cy v chc chn. Khuyt im chnh cu ng c KB l
c tnh m my xu v khng ch cc qu trnh qu kh khn hn so vi
ng c mt chiu. Trong thi gian gn y, vi s h tr ca mt s nghnh
khoa hc khc nh: in t cng sut, k thut vi x l ... lm tng kh
nng s dng i vi ng c khng ng b ngay c trong nhng trng hp
c yu cu iu chnh t ng tc trong di rng vi chnh xc cao m
trong cc h truyn ng trc y vn thng phi s dng ng c mt
chiu.
ng c khng ng b 3 pha l my in xoay chiu,lm vic theo nguyn l
cm ng in t,c tc ca roto khc vi tc t trng quay trong my.
ng c khng ng b 3 pha c dng nhiu trong sn xut v sinh hot v
ch to n gin,gi r, tin cy cao,vn hnh n gin,hiu sut cao,v gn
nh khng bo tr.di cng sut rt rng.
Page 7
ng c khng ng b 3 pha chia thnh:
ng c khng ng b 3 pha roto lng sc
ng c khng ng b 3 pha roto dy qun

y ta tp trung vo nghin cu v ng c 3 pha roto lng sc
Hnh nh v rotor lng sc:
Page 8
L thp ca rotor v stator:
Cc thanh nhm c gn trn rotor (thnh dng "ci lng nht con sc" nn
gi l "lng sc"):
1.2.CC PHNG PHP IU KHIN TC NG C KHNG NG B
Ta c t phng trnh momen ca ng c : M =
3U 1
R' 2
S
R'
w1[( R1 + 2 ) 2 + X 2 nm ]
S
ta c
th da vo iu khin moomen bng cch thay i cc thng s nh in

tr ph,tc trt,v tn s ngun cp.
iu khin in p stator
Page 9
Do momen ng c khng ng b t l bnh phng in p stato,do

c th iu chnh c momen v tc khng ng b bng cch iu
chnh in p stato trong khi gi nguyn tn s.y l phng php n
gin nht.ch s dng mt b bin i in nng (bin p,triristor) iu
chnh in p t vo cc cun stator.phng php ny kinh t nhng c
tnh c thu c khng tt,thch hp vi ph ti my bm,qut gi.
iu khin in tr roto
S dng trong c cu dch chuyn cu trc,qut gi,bm nc;bng vic
iu khin tip im hoc trisistor lm ngn mch/h mch in tr ph
ca roto ta iu khin c tc ng c,phng php ny c u im
mch in an ton,gi thnh r.nhc im:c tnh iu chnh khng
tt,hiu sut thp,vng iu chnh khng rng.
iu chnh cng sut trt
Trong cc trng hp iu chnh tc ng c khng ng b bng
cch lm mm c tnh v nguyn tc khng ti l tng th cng
sut trt ps= pt c tiu tn trn in tr mch roto. cc h thng
truyn ng in cng sut ln,tn hao ny l ng k.v th va iu
chnh c tc truyn ng in,va tn dng c cng sut trt
ngi ta s dng cc s cng sut trt (s ni tng / ni cp)
P1 = Pc + Ps = P1(1 s) +sP1 = const.
Nu ly Ps tr li li th tit kim c nng lng
-khi iu chnh vi
< 1 :c gi l iu chnh ni cp di ng
b (ly nng lng Ps ra pht ln li).

- khi iu chnh vi
> 1 (s<0):iu chnh cng sut trt trn ng b
(nhn nng lng ps vo ) hay cn gi l iu chnh ni cp trn ng b

hai ngun cung cp.
- nu ti s dng nng lng Ps to Pc : c gi l truyn ng ni
cp c.phng php ny khng c ngha nhiu v khi gim cn 1/3
th Ps = 2/3.P1 tc l cng sut ng c 1 chiu dng Ps phn gn
ng bng ng c chnh xoay chiu.nu khng nn iu chnh

xung.trong thc t ta khng dng phng php ny.
iu chnh tn s ngun cp stator
Page 10
Khi iu chnh tn s ng c ng b thng phi iu chnh c in

p,dng in,hoc t thng trong mch stator do tr khng,t thng,dng
in ca ng c b thay i.
-lut iu chnh tn s - in p
h thng iu khin in p/tn s,sc in ng stator ng c c
iu chnh t l vi tn s m bo duy tr t thng khe h khng
i.ng c c kh nng sinh momen nh nhau mi tn s nh mc.c
th iu chnh tc 2 vng:
vng di tc c bn : gi t thng khng i qua iu khin t s
sc in ng khe h/tn s l hng s
vng trn tc c bn :gi cng sut ng c khng i,in p c
duy tr khng i,t thng ng c gim theo tc .
+theo kh nng qu ti :
mbo mt s ch tiu iu chnh m khng lm ng c b qu ti
dng th cn phi iu chnh c in p.i vi bin tn ngun p thng
c yu cu gi cho kh nng qu ti v momen l khng i trong sut
di iu chnh tc .lut iu chnh l Us = fs(1+x/2) vi x ph thuc ti.khi
x = 0 (Mc = const,v d c cu nng h )th lut iu chnh us/fs khng
i.
+iu chnh t thng:
Trong ch nh mc,t thng l nh mc v mch t l ti a.lut
iu chnh tn s - in p l gi gn ng t thng khng i trn ton
di iu chnh.tuy t thng ng c trn mi c tnh c cn ph thuc
rt nhiu vo trt s,tc l ph thuc vo momen ti trn trc ng
c.v vy trong cc h iu chnh yu cu cht lng cao cn tm cch b
t thng. Phng php ny c nhc im l mi ng c phi ci t
mt sensor do t thng khng thch hp cho sn xut i tr v c cu
gn lin trong b nh hng bi nhit v nhiu.
Nu iu chnh c bin v pha ca dng in th c th iu chnh
c t thng roto m khng cn cm bin tc .
+ iu chnh tn s ngun dng in:
Phng php iu chnh ny s dng bin tn ngun dng. Bin tn ngun
dng c u im l tng c cng sut n v my, mch lc n gin m
vn thc hin hm ti sinh ng c . Ngun in mt chiu cp cho nghch
Page 11
lu phi l ngun dng in, tc l dng in khng ph thuc vo ti m

ch ph thuc vo tn hiu iu khin . to ngun in mt chiu thng
dng chnh lu iu khin hoc bm xung p mt chiu c b iu chnh
dng in c cu trc t l - tch phn (PI), mch lc l in khng tuyn
tnh c tr s in cm ln.
+ iu chnh tn s - dng in:
Vic iu chnh t thng trong h thng bin tn ngun dng c thc
hin tng t nh h thng bin tn ngun p.
+ iu chnh vect dng in:
Tng t nh h thng bin tn ngun p h thng bin tn ngun dng
cng c th thc hin iu chnh t thng bng cch iu chnh v tr vect
dng in khng gian. iu khc bit l trong h thng bin tn ngun
dng th dng in l lin tc v vic chuyn mch ca cc van ph thuc
ln nhau.
iu khin trc tip mmen

Ra i nm 1997, thc hin c p ng nhanh. V r c qun tnh c nn
khng bin i nhanh c, do ta ch trng thay i s khng thay i
r. Phng php ny khng iu khin theo qu trnh m theo im lm
vic. N khc phc nhc im ca iu khin nh hng trng vect
rto r cu trc phc tp, t tin, tin cy thp (hin nay c vi mch
tch hp cao, chnh xc cao), vic o dng in qua cm bin gy chm
tr, p ng momen ca h iu khin vect chm (c 10 ms) v nh hng
ca bo ho mch t ti Rs ln.
Kt lun :trong h thng truyn ng iu khin tn s,phng php

iu khin theo t thng roto c th cho ta c tnh tnh v ng ca ng
c tt.
1.3.XY DNG C S THUT TON FOC
1.3.1 Tng quan v FOC

Page 12
Moment sinh ra trong ng c l kt qu tng tc gia dng trong cun ng v

t thng sinh ra trong h thng kch t ng c .T thng phi c gi mc
ti u nhm m bo sinh ra moment ti a v gim ti thiu mc bo ha
ca mch t .Vi t thng c gi tr khng i ,moment s t l vi dng phn
ng
ng c in tng t nh 1 ngun moment iu khin c . Yu cu iu
khin chnh xc gi tr moment tc thi ca ng c t ra trong cc h truyn
ng c c tnh truyn ng cao v s dng phng php iu khin v tr trc
roto
Vic iu khin moment xc lp c th m rng cho qu c thc hin
trong cc h thng iu khin vecto da theo nguyn l nh hng t trng .
Vic iu khin ng c theo nguyn l nh hng t trng c nhiu phng
php khc nhau nh : nh hng t thng roto , nh hng t thng stator ,
nh hng t thng khe h khng kh . Trong vic iu khin t thng
roto ( FOC ) n gin v c s dng rng ri .
Nguyn l iu khin nh hng theo vecto t thng da trn phng php
phn tch phi tuyn c s dng trong iu khin cc h thng phi tuyn . Bn
cht ca phng php ny l iu khin cc bin chn sao cho chng lun
bng 0 . Nh vy m hnh ton hc s tr nn n gin hn v c th loi b 1
s nhnh trong m hnh tng qut
1.3.2. XY DNG C S THUT TON FOC
1.3.2.1.M T TON HC NG C KHNG NG B 3 PHA
i vi cc h truyn ng in c s ho hon ton, iu khin bin

tn ngi ta s dng phng php iu ch vect khng gian. Khu iu khin
bin tn l khu nghp ni quan trng gia thit b iu khin/ iu chnh bng s
vi khu chp hnh. Nh vy cn m t ng c thnh cc phng trnh ton hc.
Quy c : A,B,C ch th t pha cc cun dy rotor v a,b,c ch th t pha cc
cun dy stator.
Gi thit : - Cun dy stato, roto i xng 3 pha, rto vt gc .
-
Tham s khng i.
Mch t cha bo ho.
Khe h khng kh ng u.
Ngun ba pha cp hnh sin v i xng (lch nhau gc 2/3)
Page 13
Phng trnh cn bng in p ca mi cun dy k nh sau:
U k = I k Rk + d
k
dt
Trong :k l th t cun dy A,B,C rotor v a,b,c stator.

: k l t thng cun dy th k. k=Lkjij. Nu i=k: t cm, j k: h cm.
V d:a =L a ai a+L abi b+L aci c+L aAi A+L aBi B+L aCi C
V ba pha i xng nn :
Ra =Rb =Rc = Rs , RA =RB =RC =Rr
L aa =L bb =L cc =L s1 , L AA =L
BB
=L CC =L r1
L ab =L ba =L bc ...=-M s , L AC =L BC =L AB ...=-M r
L aA =L bB =L cC =L Aa = L Bb =L Cc =Mcos
L aB =L bC =L cA =L Ba = L Cb =L Ac =Mcos(+2/3)
L aC =L bA =L
__
__
s =
r =
cB
=L Ca = L Ab =L Bc =Mcos( -2/3)
A
B C
__
=
a
b c
A B
C
_
is =
[Rs] =
ia ib
ic
_
ic ,
RS 0 0
0 RS 0
0 0 RS
ir =
iA
iB
iC
_
,
ua ub
uc
us =
uA
_ uB
ur = uC
Rr 0 0
0 Rr 0
[Rr] =
0 0 Rr
LS1 -MS -MS

Lr1 -Mr -Mr
-MS LS1 -MS
-Mr Lr1 -Mr
NSVTH:
QUANG
TON
V
VN
TRIN- LP 1K3
-MS TN
-MS L
S1
-Mr -Mr Lr1
Page 14
[Ls] =
[Lr] =
[Lm()]=M.
s r
us
ur
M = i st
cos
cos(+2/3)
cos(-2/3) cos
cos(+2/3) cos(-2/3)
[LS]
[Lm()]
t
= [Lm()] [Lr]
R S + LS
d
dt
d t
Lm ( )
dt
d
Lm ( )
dt
d
Rr + Lr
dt
cos(-2/3)
cos(+2/3)
cos
is
x
ir
is
ir
d
{Lm ( )ir }
d
Cc h phng trnh trn l cc h phng trnh vi phn phi tuyn c h s bin

thin theo thi gian v gc quay ph thuc thi gian:
= 0+ (t)dt
Kt lun : nu m t ton hc nh trn th rt phc tp nn cn phi n gin bt

i. Ti nm 1959 Kvacs(Lin X) xut php bin i tuyn tnh khng gian
vect v Park (M) a ra php bin i d, q.
1.3.2.2 PHP BIN I TUYN TNH KHNG GIAN VECTO
Trong my in ba pha thng dng cch chuyn cc

I gi tr tc thi ca in p
i
+1()
thnh cc vc t khng gian.s Ly mt mt phng ct amt theo hng vung gc

vi trc v biu din t khng gian thnh mt phng.
i Chn trc thc ca mt phng
phc trng vi trc pha a.
Hnh2-1: Tng
quan gia h to v to ba pha a,b,c
+j()
is
i
NSVTH: TN QUANG TON s V VN TRIN- LP 1K3
a.ib
Page 15
a2 .ic
Ba vc t dng in stator ia, ib, ic tng hp li v i din bi mt vc t quay

trn is . Vc t khng gian ca dng in stator:
is =
2
(ia + aib + a 2 ic )
3
Mun bit is cn bit a = e
2
3
cc hnh chiu ca n ln cc trc to : is,is.
i s = i s + ji s
1
i s = Re{is } = (2ia ib ic )
3
i s = Im{is } =
3
(ib ic )
3
Hnh 2-2: Cun dy 3 pha nhn trn

Theo cch thc trn c th chuyn v t 6 phng trnh (3 rto, 3 stato) thnh
nghin cu 4 phng trnh .
Php bin i t 3 pha (a,b,c) thnh 2 pha (, ) c gi l php bin i thun.
Cn php bin i t 2 pha thnh 3 pha c gi l php bin i ngc.
n gin hn, khi chiu is ln mt h
trc xy bt k quay vi tc k:
k = 0 + kt
Nu k=0, 0=0 : l php bin i vi
h trc , (bin i tnh)
Ia
Nu k= 1, 0 t chn bt k ( n
gin mt phng trnh cho x trng r

ry=0): php bin i d,q.
a.ib
Nu k= 1 - = r : h to c nh
, i vi rto (t dng).
a2 .ic
Hh 2-3: Chuyn sang h to quay bt k

Cc h to c m t nh sau:
Page 16
pha B
i
s
q
hng trc rto
d
r
pha A
pha C
Hnh 2-4: Cc i lng is , r ca ng c trn cc h to

Cc phng trnh chuyn i h to :
a,b,c
:
i s = i a
i s =
1
3
(i a + i b )
d,q
isd = iscos + issin
isq = iscos - issin
a,b,c:
ia = is
1
ib = (is + 3.is )
2
1
ic = (is 3.is )
2
Page 17
d,q
is = isdcos - isqsin
is = isdsin + isqcos
1.3.2.3.H PHNG TRNH C BN CA NG C TRONG KHNG GIAN VECTO
d theo di ta k hiu :
Ch s trn s: xt trong h to stato (to ,)
f: trong to trng (field) t thng rto (to dq)
r: to gn vi trc rto.
Ch s di s: i lng mch stato
r: i lng mch rto
Phng trnh mmen :
3
3
m M = . p.( r i s ) = . p.( r i r )
2
2
(2-1)
Phng trnh chuyn ng :

m M = mc +
J d
p dt
(2-2)
Phng trnh in p cho ba cun dy stato :
sa (t )
dt
(t )
u sb (t ) = Rs .isb (t ) + d sb
dt
(t )
u sc (t ) = Rs .isc (t ) + d sc
dt
u sa (t ) = Rs .isa (t ) + d
(2-3)
Tng t nh vect dng in ta c vect in p:

us(t)= 2/3.[usa(t) + usb(t).ej120 + usc(t).ej240]
S dng khi nim vect tng ta nhn c phng trnh vect:
ss
u = R .i + d
dt
s
s
s
s s
(2-4)
Trong uss, iss, ss l cc vect in p, dng in, t thng stato.

Khi quan st h to ,:
Page 18
i vi mch rto ta cng c c phng trnh nh trn, ch khc l do cu to

cc lng sc l ngn mch nn ur=0 (quan st trn to gn vi trc rto)
T thng stato v rto c tnh nh sau:
0 = Rr .irr + d
rr
dt
s = isLs+irLm
(2-5)
r = isLm+irLr
Trong Ls : in cm stato Ls = Ls+ Lm (Ls : in cm tiu tn pha stato)
Lr : in cm rto Lr = Lr+ Lm (Lr : in cm tiu tn pha rto)
Ls : h cm gia rto v stato
(Phng trnh t thng khng cn n ch s h to v cc cun dy stato v rto
c cu to i xng nn in cm khng i trong mi h to ).
a) Phng trnh trng thi tnh trn h to c nh

Phng trnh in p stato gi nguyn, cn phng trnh in p rto c thay i
do rto quay vi tc so vi stato nn c th ni h to quay tng i
vi rto tc -
__
s
s
__
s
s s
u = R .i + d
____
s
s
dt
____
s
r
____
0 = R .i + d
j rs
dt
__
s
r r
____
__
__
____
s
r
__
s
s
__
s
r
(2-6)
ss = iss Ls + irs Lm
= i Lm + i Lr
Tm cch loi b s v ir: ta rt t phng trnh th 3 v 4 trong h (2-6) c:
irs =
1 s s
( r is Lm )
Lr
L
= i Ls + m ( rs iss Lm )
Lr
s
s
s
s
(2-7)
Page 19
t =1-Lm2/(LsLr)(h s tn t), Ts=Ls/Rs , Tr=Lr/Rr v thay li phng trnh 1

v 2 trong h (2-6) :
d iss Lm d rs
u = Rs .i + Ls
+
dt Lr dt
s
s
s
s
0 = iss
(2-8)
Lm
1
d
+ rs ( j ) +
Tr
Tr
dt
s
r
Bin i (2-8) sang dng tng phn t ca vect :

di s
1 1
1
1
1
= (
+
)i s +
r +
r +
u s
dt
Ts Tr
Tr Lm
Lm
L s
di s
dt
= (
1 1
1
1
1
+
)i s
r +
r +
u s
Ts Tr
Lm
Tr Lm
L s
(2-9)
d r Lm
1
=
i s r r
dt
Tr
Tr
d r
dt
Lm
1
is + r r
Tr
Tr
Thay irs t phng trnh th 2 ca (2-5) vo phng trnh mmen (2-1):

3
3
1
3 L
mM = .p.( sr i sr ) = .p.( sr ( sr i ssL m ) ) = .p. m ( sr i ss ) (2-10)
2
2
Lr
2 Lr
Thay cc vect trong (2-10) bng cc phn t tng ng ta c :

3 L
mM = .p. m ( r i s r i s )
2 Lr
(2-11)
T h phng trnh (2-9) v phng trnh (2-11) ta c cng thc m t ng c

1
khng ng b trn h to , trong thay T theo cng thc: T = T + T
s
r
(p+
1
1
1
1
)is =
r +
r +
u s
T
Tr Lm
Lm
Ls
(p+
1
1
1
1
)is =
r +
r +
u s
T
Lm
LmTr
Ls
(2-12)
(1 + Tr p ) r = Lm is Tr r
(1 + Tr p ) r = Lm is + Tr r
Page 20
T (2-13) ta lp c m hnh in c ca ng c khng ng b trn h to

nh sau:
us
us
1
Ls
1
Ls
1+pT
1-
LmTr
1-
LmTr
T
1+pT
is
Lm
1
1+p r
Tr
mC
3pcLm
2Lr
-
Pc
mM
pJ
Tr
1-
Lm
i
Lm
s
1
1+pTr
Hnh 2-5: M hnh ng c trn h to c nh

u vo ca m hnh l i lng in p. Do vy m hnh ch ng vi bin tn
ngun p. Cn khi s dng bin tn ngun dng (cho cng sut truyn ng rt
ln) th phi bin i m hnh thnh u vo l dng stato is, is
H phng trnh (2-9) khi vit li di dng ma trn:
dx s
= A s x s + B s u ss
dt
(2-13)
Trong :
xs: ma trn trng thi, xsT =[is, is, r, r]
uss: ma trn u vo, ussT =[us, us]
As: ma trn h thng
Bs: ma trn u vo
Page 21
A11s A12s
A = s
, vi cc phn t nh sau:
s
A21 A22
s
0
T
1
0
1
s
= 1
A 11
=
=
1
T 0 1
T
0 T

1-
1
1

T L
Lm
s
= 1 Tr
A 12
= r m
1 L m -
1-
- L
Tr L m
.I
1 1
=
( .I . J )
1
L m Tr
Tr
L m
0
T
r
= L m .I
A s21 =
L m Tr
0
Tr
-
T
= 1 .I + .J
A s22 = r
1
Tr

Tr
B
Bs = s
B2
s
1
L 0
0 0
s
= 1 .I ; B2s =
; trongkhi B1s =
1 Ls
0 0
0
Ls
Lp m hnh ca ng c theo cc ma trn : t (12) :
dx s
= A s x s + B s u ss ta c
dt
Page 22
Uss(t)
s
s (t)dt
Udx
s (t)
xs(t)
As
Hnh 2-6: M hnh ng c dng ma trn
dI s
s
s
Bs
As11
Iss(t)
dt
As21
Khi m t chi tit bng cc phn t ma trn:
s
r
dt
s
12
rs(t)
A
s
22
b, Phng trnh trng thi trn h to ta theo t thng rto dq:

Tng t nh trn, khi chiu trn h to ny th cc phng trnh t thng vn
khng i, ch c cc phng trnh in p thay i nh sau:
- To t thng rto quay tc s so vi stato.
- H to chuyn ng vt trc so vi rto mt tc gc r = s -.
T ta thu c h phng trnh :
Page 23
___
____
d rf
u =R i +
+ j s rf
dt
__
f
s
__
f
s s
____
f
r
____
d
0=R i +
+ j r rf
dt
__
f
r r
____
f
r
__
f
s
__
f
r
____
__
__
(2-14)
= i Ls + i Lm
rf = isf Lm + irf Lr
Tm cch loi b ifr v fs : t (2-14) c
__
f
r
1 ____f __f
i = ( r is Lm )
Lr
____
f
s
__
f
s
Lm ____f __f
= i Ls +
( r is Lm )
Lr
(2-15)
Th tr li phng trnh th 3 v 4 ca (2-14) ta c phng trnh :

disd
1 1
1
1
1
= (
+
)isd + s isq +
rd +
rq +
u sd
dt
Ts Tr
LmTr
Lm
Ls
disq
dt
= s isd (
1 1
1
1
1
+
)isq
rd +
rq +
u sq
Ts Tr
Lm
LmTr
Ls
d rd Lm
1
=
isd rd + r rq
dt
Tr
Tr
d rq
dt
(2-16)
Lm
1
isq r rd rq
Tr
Tr
Bin i tip h (2-16) vi iu kin chn trc d trng vi vect r , tc l rq = 0:
Page 24
1
1
1
1
+ p)isd = s isq +
rd +
rq +
u sd
T
LmTr
Lm
Ls
1
1
1
+ p)isq = s isd
rd +
u sq
T
Lm
Ls
(1 + Tr p ) rd = Lm isd
(2-17)
Lm
isq
Tr
r =
rd
1
Thay T theo cng thc: T = T + T
s
r
Tng t nh trn to ta cng c phng trnh mmen cho to dq:
L
3
mM = . pc . m ( rf isf )
2
Lr
Thay i lng vect bng cc phn t ca n : isf = isd+jisq v sf = sd+j rq ta c:
L
3
mM = . pc . m rd isq
2
Lr
(2-18)
T (2-17) v (2-18) ta v c s ton hc ca ng c trn h to t thng

rto dq:
Page 25
1
L
d s
isd
1+pT
Lm
Lm
1+pTr
3pcLm
2Lr
Lm
Pc
pJ
1-
Lm
Tr
Tr
mC
e-j s
u
s
- -
1
q
L
s
1+pT
r
s
isq
1
p
Hnh 2-7: M hnh ng c trn h to quay dq

Sau ny, khi i su vo bi ton iu khin ta s s dng m hnh quay dq.
M hnh ng c biu din di dng ma trn: h phng trnh (2-16) sau khi tch r
= s - c th vit li di dng m hnh trng thi phi tuyn nh sau:
dxf
= A f x f + B f u sf + N x f s
dt
(2-19)
Trong : xf = [isd, isq, rd, rq] T

ufs = [usd, usq] T
1
T

0
f
A =
L
m
Tr
1
T
0
Lm
Tr
1
LmTr
1
L m
1
Tr
1
Lm
L
1
s
LmTr f 0
;B =

0
1
0
Tr
0
0
1
1
N =
L s ;
0
0
0
1 0
0 0
0 0
0 1
0
0
1
Page 26
Hnh minh ho cho m hnh (2-19) cho thy u vo stato ng c gm thnh

phn vect in p us v tn s ngun s. Nh vy so vi m hnh trn h to tnh
th m hnh trn h to quay cn thm tc quay ca h ta . iu c th
hiu c v vect us trn dq ch gm hai thnh phn mt chiu usd, usq , cn trn to
tnh th tn s s cha trong hai thnh phn xoay chiu us us.
xf(t)
Bf
f
s
u (t)
Af
dx f (t)
dt
Hnh 2-8: M hnh CKB trn to dq theo dng vect

1.3.2.4.CU TRC H THNG IU KHIN VECTO NG C KHNG NG B
Trc y ta cp n vn iu khin ng c khng ng b theo cng

thc (2-18) : mM = K m rd isq c th iu khin c chnh xc tng t nh ng
c mt chiu (iu khin c lp thnh phn kch t r v thnh phn dng phn ng
is).
Nh vy h iu khin cng tng t nh h iu khin ng c mt chiu.
Page 27
i
k
t
*
Rikt
Ri
Hnh 2-9: M hnh iu khn ng c mt chiu.

Ta s xy dng mt h iu khin tng t cho ng c khng ng b nhng trn
to dq. Nh vy ng c cng phi biu din trn dq (mc 2-3-2), lng t l
v isd :
I
s
d
*
I
s
q
*
Nhnh kch t
Risd
Risq
Nhnh mmen
Hnh 2-10: T tng iu khin CKB.

Nhng trong h thng thc, ngun cung cp cho ng c l ba pha abc v cc i
lng dng phn hi o v c cng l trn to abc, vy gia hai h to
phi c cc b chuyn i to , c th l t b iu chnh lng t thnh tn
hiu a vo bin tn nui ng c phi c mt b chuyn i dq/abc t cc i lng
dng o c em phn hi c mt b chuyn i ngc t abc/dq.
Vn ny sinh l khi chuyn i gia hai to cn phi c gc lch gia chng
( s). T y c hai gii php:
Page 28
Ly s bng cch tch phn tc quay s ca dng, p stato hoc ca t thng
rto.
V h to quay dq c trc thc gn vi r nn gc s c th xc nh bng
cch tnh gc ca r trn h to

T phn tch trn ta c h thng iu khin nh hnh v:
Ngun
mt chiu
Risq
isq*
us
isd*
*
d
isd
Isq
ua
*
q
d,q
Nghch lu
c lp
PWM
*
s
a,b,c
ubs*
ucs*
Risd
ias
a,b,c
d,q
ibs
ics
Hnh 2-11: S h thng iu chnh dng in v tc ca ng c trn dq.

Gc s dng chuyn to t tnh sang quay theo chiu thun hoc ngc
(dq hoc dq) . s c th c tnh trc tip s = arctg(r) hoc gin tip : s
= s.t + 0
Tu theo cch xc nh gc quay t trng s m ta c hai phng php iu khin
vect: phng php iu khin trc tip v phng php iu khin gin tip:
Page 29
iu khin vect gin tip
+
a1
(
+j
(
)
=
s.
b
q
Hnh 2-12: th gc pha ca phng php iu khin vect gin tip

phng php ny , gc s c tnh ton da vo cc i lng u cc ca
ng c. t tnh ra cc phn t quay cos, sin .
Theo th trn, gc pha c tnh nh sau:
s = sdt + o
s: tc quay ca vect dng in stato, t thng rto v l tc quay ca h
trc to dq.
d rsf
0=Ri +
+ j r rf
dt
T phng trnh cn bng in p rto (2-14) :
f
r r
Xt trn hai trc d v q tng ng ta c:

d rd
r rq
dt
d rq
0 = Rr i rq +
+ r rd
dt
0 = Rr i rd +
(2-20)
T cng thc r = Lrir + Lmis ta suy ra :
Page 30
i rd =
i rq =
rd Lm i sd
Lm
rq Lm i sq
Lm
(2-21)
Thay (2-21) vo (2-20) c

d rd Rr
L
+ rd m Rr I sd r rq = 0
dt
Lr
Lr
d rq
dt
Rr
L
rq m Rr I sq + r dq = 0
Lr
Lr
(2-22)
V h to dq gn vo vect t thng rto v cc iu kin sau gi s c

m bo:
rq =
rd
d rq
=0
dt
= r = const
Thay cc iu kin vo (2-22) v bin i c:

r =
Tr
Lm i sq
Tr r
d r
+ r = Lm i sd
dt
(2-23)
Khi tnh c r ta c cng thc tnh gc quay s da vo isd, isq v tc :

i
s
d
Lm
Trp
+1
Lm
Tr
1
p
Hnh 2-13: S tnh ton gc quay t trng theo phng php gin tip.
Page 31
iu khin vect trc tip theo t thng rto

Phng php ny xc nh trc tip gc quay t trng s t t thng rto r
hoc t thng khe h 0 trn hai trc ca h to vung gc:
r c th c xc nh bng cm bin t thng Hall hoc bng tnh ton.
Vic dng cm bin thng tn hiu thu c d b nhiu trong qu trnh ng
c lm vic nn ta c th xc nh r bng tnh ton:
Tnh ton t thng theo m hnh quan st
M hnh quan st t thng bc trong tnh ton c dng stato v t thng rto
c xy dng theo phng trnh chng 2-7:
^
.
X = A X + B.u s + G (i s i s )
^
d i s A11
=
dt ^ A21
r
^
A12 i s B1
G1 ^
.
+
u
+
(i i )
A22 ^ 0 s G2 s s
r
Hay vit cch khc:

.
^
i s = A11 i s + A12 r + B1u s + G1 (i s i s )

.
^
r = A21 i s + A22 r + G2 (i s i s )
us
is
ng c
G1
1
p
B1
is
G2
A11
A12
M hnh dng in
is
1
p
A21
M hnh t thng
A22
Page 32
Hnh 2-18: Tnh ton r theo m hnh quan st.
Sau khi c r , r ta tnh gc quay t trng bng cc cng thc:

cos s =
r
r
; sin s =
r
r
T ta c c m hnh ton b h thng iu khin trc tip nh sau:

S di dng vect gm hai nhnh song song : mt l ng c thc t v
mt l m hnh quan st ng c ly thng s l dng in, in p stato, sau khi
tnh ton c vect dng in stato mu is em so vi dng stato thc t t
tnh ra vect t thng r .
r*
B /c
R
s
*
B /c
Ri
uqs* dq
ub*
B /c
uds*
Ri
d
s
*
ab
c
I
q
ua*
dq
Nghch lu
PWM
uc*
i
s
s
d
ab
c
Tnh
ton t
thng
rto
us
Hnh 2-19: M hnh iu khin vect kiu trc tip ly s t b quan st
Page 33
1.3.2.5. Tng hp cc b iu chnh

a. Tng hp h theo hm chun:
Cu trc h gm cc mch vng iu chnh l thuc ln nhau (cu trc mch
vng ph hp vi cc h iu chnh cng nghip)
R1
R2
R3
Fs1
Fs2
Fs3
Hnh 2-20: Cu trc tng qut mt h iu chnh

*c tnh ng ca h: l p ng ca h khi lng vo l hm nhy cp 1(t).
y
- Tc iu chnh: (gia tc ca h thng) =w/Tv
- qu iu chnh: (mong mun nh): %=100(y

m=w)/w
%
2%
- S ln dao ng.
- Thi gian iu chnh: Tc , cn nh
s%
Tv c tnh qu
Tc ca h thng . y
Hnh 2-21:
Vic iu chnh cc thng s trn ph thuc ln nhau. V d nu gim Tc s

lm tng %. Vy phi a ra mt s dung ho gia cc tiu chun c c h
thng ti u.
* Tiu chun mun ti u:
c tnh moun ca hm truyn kn ca h l mt hm khng tng, khng cng
hng v = 1 trong di tn s sao cho rng nht.
Page 34
- Hm khng tng:
H ( 2 )
0
2
hng
H ( 2 )
0
- Khng cng hng:
( 2 ) 2
- Bng 1:
c cng
H()
1
c=1/T
limH( 2) =1
Hnh 2-22: c tnh tn ca hm truyn

kn ti u
T tiu chun mun mun h kn l mt khu bc hai th hm chun bc

hai c dng: Fch =
1
2
1 + 2Tc p + 2Tc p 2
(tiu chun mun ti u)
Nu mun mun h kn l mt khu bc ba th hm chun bc ba c dng:

Fch =
1 + 4Tc p
2
1 + 4Tc p + 8Tc p 2 + 8Tc p 3
(tiu chun mun ti u i xng)
Trong Tc c chn sao cho nh nht c =1/Tc l ln nht.

Hm truyn kn ca mi mun dng:
Fs .Rs
. Nu bit hm truyn h
1 + Fs .Rs
thng Fs ta c th da vo cc tiu chun ti u xc nh hm truyn b iu

chnh Rs .
b. Tuyn tnh ho m hnh ng c

H phng trnh (2-17) m t ng c h phng trnh phc tp, c phi
tuyn cao dn n mt s rt phc tp v kh c th tng hp mch theo cc
phng php thng thng c. Do vy ta phi dng phng php tuyn tnh ho
quanh im lm vic:
Gi im lm vic n nh ca ng c l im c tc 0 ng mmen ti m0
(v gi tt c cc thng s ti im u c ch s di l 0). H thng x dch
quanh im lm vic n nh mt lng rt nh ko theo tt c cc i lng cng
u b thay i mt lng rt nh no , v d = o +
Page 35
Thay tt c cc i lng bin i c vo (2-17): isq=isq0+isq , = o + ,

m=m0+m ... ta c:
1 + T p
1
1
.isd = s 0 .isq + isq 0 . s +
. rd +
.u sd
T
L
T
L
0
m r
s
1 + T p
1
1
1
.isq = s 0 .isd isd 0 . s
0 . rd
rd 0 . +
.u sq
T
Lm
Lm
Ls
(1 + Tr p). rd = Lm .isd
1 Lm
.isq r 0 . rd
rd 0 Tr
3 L
mM = . p. m ( rd 0 .isq + isq 0 . rd )
2 Lr
r =
(2-28)
usd
1 .Ls
1+T
mc
rd
isd
is
Lm
1+Trp
1
LmTr
s0
3L.pc
isq0
usq
pJ
s tnh ho:
T ta c s cu trc ng c tuyn
-
rd0
r
s0
Pc
2Lr
rd0
issd0
LTr rd
0
- T
i
1.
NSVTH: TN QUANG TON sq V VN TRIN- LP 1K3
1+Tp
Ls
rd0
q
Page 36
s0
Hnh 2-23: S m t ng c trn h to dq

tuyn tnh ho quanh im lm vic
c. Tng hp Risq v R
S trn cn nhiu phc tp mc d b bt khu nhn v chia. Ta cn phi
tip tc lm n gin bt bng cc gi thit sau:
Gi thit iu chnh tc ng c mc di tc nh mc. Khi ging
nh iu chnh tc ng c mt chiu, ta s theo lut t thng khng i
nhnh t ho rd c rd = 0. Theo phng trnh 2 ca (2-17) ta suy ra isd = 0.
Vy (2-28) c dng:
Page 37
3
1 + T p
1
.isq = ( Lm isd 0 ). s
rd 0 . +
.u sq
T
Ls
Lm
1
.isq
r =
T
r rd 0
3 L
mM = . p. m ( rd 0 .isq )
2 Lr
usq
T 1+T
1 .Ls
sq
-p
Lm
3Lmpc
rd0
2Lr
mc
Pc
pJ
Tr rd0
isd0
rd0
Hnh 2-24: S cu trc khi r = const
Bin i s :
usq
T
1 .Ls
T p
rd0
rd0
Trr
mc
Pc
pJ
2Lr
Lmisd0
rd0+isd0
sq
3L
p
m c
C
1
p+D
Page 38
Hnh 2-25: M hnh sau khi bin i.
t A =
L m i sd0
rd 0Tr
B = L rd0 + isd0
m
C=
3 rd 0 Lm p c2
2 Lr J
T
1 + T p
T
1
=
=
T
p+D
(1 + AT ) + T p
1 + A.
1 + T p
D=
1
+A
T
Tng hp mch: mch iu khin gm khu iu chnh tc v khu iu

chnh dng in. Coi khu nghch lu c qun tnh rt nh, c 1ms (Tnl = 0.001)
i
*
q
*
Risq
usq* K
nl
1+Tnlp
1 .Ls
1
p+D
.
isq
C
p
Hnh 2-26: Tng hp cc mch vng dng in v tc .

Nhn thy tng t nh khi tng hp m hnh ng c mt chiu, khu phn
hi B ging khu phn hi sc in ng. M ta bit qun tnh ca khu ny th rt
nh so vi qun tnh c nn mt cch gn ng c th b qua tng hp c.
Page 39
K nl
K nl
=
1
Fsi = Ls (1 + Tnl p)( D + p)
Ls (1 + Tnl p)(1 + p)
D
Theo tiu chun ti u mun ta c:

1
p +1
p+D
D
Ri sq =
=
K nl
2
Tnl p 2 nl Tnl p
Ls D
Ls
Nh vy theo lut iu khin mun ti u hm truyn kn ca mch vng dng

in l:
Fki =
1 + 2.Tnl . p + 2.( Tnl ) . p 2

2
n gin bt cho phn tng hp sau ta b bt thnh phn bc 2 ca Fki:

Fki =
1
.
1 + 2.Tnl . p
1
Hm truyn i tng ca mch vng tc Rs : Fs = 1 + 2T . p . p

nl
i vi mch iu chnh tc , do qun tnh ca h thng ln nn khi tng hp
theo chun ti u ta khng th t hng s Tc c miligiy nh khi p dng cho
mch vng dng in c.Nu t Tc qu nh s gy hai bt li: th nht tc
n nh t 0 ti nh mc trong khong thi gian miligiy th dng sinh mmen
lc phi c gi tr rt ln, c vi nghn ampe, iu ny khng th chp nhn
c. Th hai l tn hiu t ca mch vng dng in l tn hiu u ra ca mch
vng tc . Nu tn s dao ng ca mch vng ngoi a vo cng xp x tn s
dao ng ca mch vng trong th h thng d mt n nh. Ta phi lm sao cho
chu k dao ng ca mch vng trong rt nh so vi mch vng ngoi th h kn
mi m bo n nh c.
p dng tiu chun mun ti u i xng (2-68) cho mch vng tc ta
c:
Page 40
Fs R
= Fch
1 + Fs R
Fs R =
Fch
1 Fch
1 + 4Tc p
1
C
. .R =
2 2
3
1 + 2Tnl . p p
8Tc p + 8Tc p 3
R =
(1 + 2Tnl . p).(1 + 4Tc p )

2
C. 8Tc p(1 + Tc p )
1 1 + 2Tnl . p 1 + 4Tc p
.
.
C 8Tc 2 p 1 + Tc p
Nu n gin ch ly R l khu PI: R =
1 + 2(Tnl + 2Tc ) p
2
C. 8Tc p
d. Tng hp Risd:
gim bt phc tp trong vic tng hp ta da vo l lun sau: Khi khi ng
ta lm theo quy trnh nh my in mt chiu: sau khi n nh vic cp ngun pha
kch t isd xong mi cp mmen quay isq nn c th coi khi a isd vo th mch
pha phn ng cha c hot ng. Nh vy ta c th b qua nh hng ca pha
phn ng trong qu trnh khi ng .
Lc mch (2-23) c dng:
usd
Risd
Knl
1+Tnl
p
1
L
. s
T
1+Tp
mc
isd
Lm
1+Trp
1
LmTr
3Lm.pc
isq0
2Lr
Pc
m
pJ
r0r
d0
isq0
Hnh 2-27: Nhnh kch t ca m hnh ng c trn h to dq.

Page 41
i
usd
Risd
Knl
1.
1+Tnlp
Ls
1+Tp
sd
isq0 3Lmpc2
Lm
2Lr J.p
p
1 1+T
r0 r
isq0
LmTr rd 0
isq0
Hnh 2-28: Bin i nhnh kch t.
n gin bt v ly Fsi =
Suy ra
Ri sd =
K nl .
T
K T
1
1
.
.
= nl .
1 + Tnl p Ls 1 + T p
Ls (1 + Tnl p )(1 + T p )
T p + 1
T
2 K nl Tnl p
L s
theo hm chun bc hai.
1.3.2.6 B quan st t thng

Trong phn ny ta s xy dng b quan st t thng thch nghi mi ca ng
c khng ng b cho iu khin trong di tc rng.
Mt C KB c m t bng phng trnh trng thi nh sau:
__
d is A11
=
dt ___ A21
r
__
A12 is B1 __
. +
us
A22 ___ 0
r
(2-29)
vit gn:
X = AX + Bu
i s = CX
trong :
Page 42
__
is ___ r __ u s
is = , r =
, u s = u
is
r
s
1 1
= ar11 I
A11 =
+
Ts Tr
I r J = ar12 I + a112 J
Tr
A12 =
1
Lm
A21 =
Lm
I = a r 21 I
Tr
A22 =
B1 =
1
I + r J = ar 22 I + a122 J
Tr
1
I = b1 I
Ls
I
C=
0
A
A = 11
A21
a r11
A12 0
=
A22 a r 21
0
a r11
0
a r 21
a r12
a122
a r 22
a122
a112
a r12
a122
a r 22
1 0
I=
0 1
0 1
J =
1 0
M hnh quan st bc trong tnh ton c dng stato v t thng rto c

xy dng theo phng trnh sau:
^
___
.
___
^
__
__
^
__
X = A X + B. u s + G (is is )
__^
d is A11
=
dt ___
^
A21
__^
__
A12 is B1 __ G1 ^ __
. + u s + (is is )
A22 ___
^
0
G2
(2-30)
Trong ^ ngha l gi tr tnh ton c.

Cht lng tnh ton t thng rto bao gm chnh xc tnh v thi gian hi
tt thng tnh ton v gi tr thc (ch ng). Cht lng ny s gp phn quan
Page 43
trng nng cao cht lng iu chnh ca h thng truyn ng in bin tn ng c khng ng b khng dng cm bin tc . M hnh quan t c thit
k tho mn hai ch tiu: chnh xc tnh cao v thi gian hi t b. Ch tiu
th hai c ngha l cc thng s shi t v gi tr thc ca ng c trong thi gian
nh m khng lm nh hng n cht lng ng ca ton h thng.
Trong phng trnh (2-30), c G l mt ma trn trng s dng b sai lch
gia cc thng s thc ca ng c v cc thng s trong m hnh quan st sao cho
m hnh quan st m t cc thng s ng c ging thc t nht.
Phng php la chn G: v ng c l i tng n nh, nghim cc ca
phng trnh m t ng c lun nm pha tri mt phng phc nn m hnh
quan st hot ng n nh ta phi la chn G nh sau: chn G sao cho nghim
cc ca phng trnh quan st t l vi nghim cc ca phng trnh trng thi m
t ng c theo mt h s dng. Nu m hnh quan st c nghim cc t l nh
vy vi nghim cc ca ng c th c ngha l m hnh quan st c nghim cc
cng nm pha bn tri trc o ca mt phng phc (phn thc ca nghim c
gi tr m). Nh vy m hnh quan st lm vic n nh.
Cc bc tnh ton xc nh cc phn t ca ma trn G:
-
Tm cc nghim cc ca phng trnh trng thi biu din ng c.
Gii phng trnh trng thi ca khu quan st tm nghim cc ca m hnh,

trong c cha cc phn t ca ma trn G nh l cc n s.
Cho nghim cc ca m hnh quan st t l vi nghim cc ca ng c theo

mt h s t l k dng bt k. T tnh ra tng phn t ma trn G theo k.
Sau khi tm c G ta s tin hnh hiu chnh h s k sao cho cc i lng
quan st c m hnh quan st l is , is , r , r c gi tr gn ng vi cc i

lng ca ng c, sai lch gia chng c ch tnh v ch ng l nh
nht. Vic tm h s t l k sao cho ph hp nht s c thc hin chng 4 khi
s dng phn mm m phng Simulink MATLAB.
M hnh quan st nu trn c cu trc nh hnh v, trong G ng vai tr
ma trn hiu chnh:
Page 44
C KB
(
)
is
Hnh 2-29: M hnh tng qut b quan st t thng rto.

Nu tch ring m hnh quan st thnh hai khu: khu quan st dng in v
khu quan st t thng th b quan st s c cu trc nh hnh 2-30:
us
is
ng c
G1
1
B1
A11
A12
M hnh dng in
is
is
+
G2
1 r
A21
M hnh t thng
A22
Hnh 2-30: M hnh dng in stato v t thng rto trong b quan st.
Page 45
Theo (3-20), G l mt ma trn rng 4 x 2 trong ta gi thit cc phn t ca

n nh sau:
g1
g
G= 2
g3
g 4
g5
g 6
g7
g8
Ti y ta phi gii tm G : theo phn tch ni trn ta ln lt gii tm

nghim cc ca ng c v m hnh.
Phng trnh trng thi m t ng c nh sau:
pX=AX+Bu
(pI-A)X=Bu
T rt ra phng trnh c tnh: pI -A= 0
p
0
0 a11
p a 21
p a11
a 21
(2-31)
a12
=0
a 22
a12
=0
p a 22
( p a11 )( p a 22 ) a12 a 21 = 0
p 2 (a11 + a 22 ) p + a11 a 22 a12 a 21 = 0
Phng trnh c tnh ny c 2 ma trn nghim p1 v p2 tho mn iu kin sau:

p1+p2=a11+a22 v
p1.p2=a11.a22+a12.a21
(2-32)
Tm nghim cc ca m hnh quan st :

Ly (2-2) -(2-30) c:
__
__
^
__
__
^
__
^ __
p.( X- X) = A.(X- X) G.(i s - i s )

__
__
__
^ __
__
__
__
__
__
__
__
__
__
p. E = A. E G.(i s - i s )
__
^
p. E = A. E + G.(i s i s )
__
^
p. E = A. E + G.C( X- X)
p. E = A. E + G.C. E
__
[ pI ( A + GC )] E = 0
Page 46
Phng trnh c tnh ca n c dng: pI - (A+GC) =0 trong :

a'
A + GC = 11
a '21
a r11 + g1
a'12 g 2
=
a' 22 a r 21 + g 3
g4
g5
ar11 + g 6
g7
ar 21 + g 8
a112
a r12
a122
a r 22
ar12
a112
ar 22
a122
Khi em gii nh gii phng trnh (2-31) c

p2 -[a11+a22].p + a11. a22 - a12. a21 =0
Gi s phng trnh ny cng c 2 nghim cc p1, p2 t l dng vi nghim
cc ca phng trnh trng thi m t ng c p1 , p2 nh sau:
p1=k.p1 v p2=k.p2
(k > 0)
Tng v tch hai nghim p1, p2 c rt ra t phng trnh trn:

p1+p2= a11+ a22 v p1.p2= a11. a22 - a12. a21
C th suy ra c
(2-33)
p1+p2=k(p1+p2) v p1+p2=k2(p1.p2)
T (2-32) v (2-33) suy ra:
a11+ a22 =k.(a11+a22)

a11.a22 =k2.(a11.a22)
(2-34)
Phng trnh th nht ca (2-34) tng ng:

a r11 + g1 + a r 22
a122 + g 2
a122 + g 5
a + a r 22
= k . r11
a r11 + g 6 + a r 22
a122
a122
a r11 + a r 22
ng nht tng phn t ca hai ma trn hai v ta c:

ar11 +g1+ ar22 = k(ar11 + ar22)
-a122 +g5 = k(-a122)
a122 +g2 = k(a122)
ar11 +g6+ ar22 = k(ar11 + ar22)
T 4 phng trnh rt ra kt qu:
g1= g6 = (k-1)(ar11+ar22)
(2-35)
g2 = -g5 = (k-1)(-a122)
Phng trnh 2 ca (2-34) tng ng:
Page 47
(a r11 + g1 )a r 22 + g 5 a122 a r12 (a r 21 + g 3 ) + a112 g 4
a g + ( a + g )a a ( a + g ) a g
r11
6
122
112
r 21
3
r12 4
r 22 2
a a a r12 a r 21 a r11 a122 + a112 a r 21
= k 2 . r11 r 22
a r11 a122 a112 a r 21 a r11 a r 22 a r12 a r 21
(a r11 + g1 )a122 + a r 22 g 5 a r12 g 7 + a112 (a r 21 + g 8 )
a122 g 2 + (a r11 + g 6 )a r 22 a112 g 7 a r12 (a r 21 + g 8 )
n y li s dng phng php ng nht ma trn nh lm trn

ta c:
g1 = g 6
g2 = g5
g3 = g8
(2-36)
g4 = g7
(a r11 + g1 )a r 22 + g 5 a122 a r12 ( a r 21 + g 3 ) + a112 g 4 = k 2 (a r11 a r 22 a r12 a r 21 )
a r 22 g 2 + (a r11 + g 6 )a122 a112 (a r 21 + g 3 ) a r12 g 4 = k 2 (a r11 a122 a112 a r 21 )
Kt hp (2-35) trong khi gii h gm phng trnh 3 v 4 ca (2-36):

2
[ar11 + (k 1)(ar11 + ar 22 )]ar 22 (k 1)a122
ar12 (ar 21 + g 3 ) + a112 g 4 = k 2 (ar11ar 22 ar12 ar 21 )
(k 1)a122 ar 22 + [ar11 + (k 1)(ar11 + ar 22 )]a122 a112 (ar 21 + g 3 ) ar12 g 4 = k 2 (ar11a122 a112 ar 21 )
H trn tng ng:

2
ka r11 a r 22 + (k 1)a r222 (k 1)a122
a r12 a r 21 a r12 g 3 + a112 g 4 = k 2 (a r11 a r 22 a r12 a r 21 )
(k 1)a122 a r 22 + ka r11 a122 + (k 1)a r 22 a122 a112 a r 21 a112 g 3 a r12 g 4 = k 2 (a r11 a122 a112 a r 21 )
Rt gn:
2
a r12 g 3 + a112 g 4 = (k 2 k )a r11 a r 22 (k 2 1)a r12 a r 21 (k 1)(a r222 a122
)
a112 g 3 a r12 g 4 = (k 2 k )a r11 a122 (k 2 1)a112 a r 21 2(k 1)a r 22 a122
(2-37)
T (2-37) ly (pt 1)*ar12 +(pt 2)*a112 c phng trnh :

2
2
(a r212 + a112
) g 3 = (k 2 k )a r11 (a r 22 a r12 + a112 a122 ) (k 1)(a r222 a r12 a122
a r12 + 2a r 22 a122 a112 )
2
(k 2 1)a r 21 (a r212 + a112
)
Xt cc nh ngha:
A12 =
1
Lm
A22 =
I r J = a r12 I + a112 J
Tr
1
I + r J = a r 22 I + a122 J
Tr
Nhn thy nu t c = Lm/(1-) th ar22 = - c.ar12, a122 = - c.a112

Page 48
Thay vo phng trnh trn c:

2
2
(a r212 + a112
) g 3 = (k 2 k )a r11 ((ca r12 )a r12 + a112 (ca112 )) (k 1)a r12 (a r222 a122
2ca122 a112 )
2
(k 2 1)a r 21 (a r212 + a112
)
2
2
2
2
(a r212 + a112
) g 3 = c (k 2 k ) a r11 (a r212 + a112
) ( k 1)a r12 (a r222 a122
+ 2a122
)
2
(k 2 1)a r 21 (a r212 + a112
)
g 3 = ( k 2 k )ca r11 (k 1)c 2 a r12 (k 2 1)a r 21
g 3 = (k 2 1)(ca r11 + a r 21 ) c (k 1)(a r11 + a r 22 )
Thay tr li g3 vo phng trnh th 2 ca (2-37) c:

a112 [(k 2 k )ca r11 + (k 1)c 2 a r12 + (k 2 1)a r 21 ] a r12 g 4 = (k 2 k )a r11 a122 (k 2 1) a112 a r 21
g 4 = (k 1)ca122
Vy ta tm c ma trn G
g
G= 1
g 2
g2
g1
g3
g4
g4
g 3
Trong :
g1 = (k-1)(ar11+ar22)
g2 = (k-1).a122
g3 = (k2-1)(c.ar11+ ar21) -(k-1)c(ar11+ ar22)
g4= - c(k-1)a122
Page 49
XY DNG CU HNH IU KHIN FOC

u tin, ta c mt ci ng c khng ng b, mt b bin i in t cng
sut (nghch lu s dng IGBT hoc MOSFET) v khu iu ch xung PWM.
Ta tin hnh o dng in isa, isb, isc, cho qua khu bin i (ma trn Clack
transform) abc/- to thnh 2 dng is v is.
Sau cho qua khu quay trc ta (ma trn Park transform) - /d-q to
ra 2 dng isd v isq.
Page 50
By gi, ta tm vng dng in m i ra vng ngoi cng: vng iu

khin tc v vng iu khin t thng. . Ta s c cm bin tc a v tn
hiu phn hi tc ng c, c lng t tc *, c khu gim t thng
vi nhim v gi nguyn t thng nh mc di tc c bn v gim t
thng di tc cao, u ra l lng t t thng r*.
Lng t tc * v lng t t thng r* so snh vi tc phn hi v
t thng r, qua b iu khin tc v iu khin t thng (thng l cc b
PI) to thnh lng t dng in isd* v isq*. ( phn hi t cm bin tc ,
cn r c ly t khu c lng t thng s ni sau).
Page 51
Lng t dng isd* v isq* c so snh vi dng phn hi isd v isq m ta c

c, cho qua b iu khin dng in (thng l PI) to ra tn hiu in p t
usd* v usq*.
Page 52
Tn hiu in p t usd* v usq* ny c cho qua h thng chuyn ta

ngc d-q/- ri - /abc to ra tn hiu t usa*, usb*, usc* a vo khu
iu khin in t cng sut PWM (iu ch sng mang tam gic hoc iu
bin khng gian vector) pht xung cho mch lc nghch lu, cp in cho ng
c quay.
Nu b iu khin dng in ta khng dng PI m dng iu khin di tr

(Hysteresis Current Control - HCC) th tn hiu sau b iu khin c a
thng vo nghch lu ng ct van. Thc t th HCC cng l mt phng
php PWM ch khng ch c iu ch sng tam gic v iu bin khng gian
vector.
c t thng rotor ta khng o c m cn phi c lng n s dng mt
b c lng t thng. Cng thc c th cc anh xem trong ti liu.
c c gc theta (sin cos ca n) s c 2 phng php, t chia FOC
Page 53
thnh 2 loi: iu khin FOC trc tip (Direct Vector Control) v gin tip
(Indirect Vector Control).
iu khin FOC trc tip
Page 54
iu khin FOC gin tip

II.
M PHNG BNG MATLAB NH GI H THNG BIN TN DNG
THUT TON IU KHIN FOC
II.1.
M PHNG BNG MATLAB
Ta s dng m SimpowerSyrtem vi cc sn phn MathWorks khc cng vi

hng dn c sn trong phn mm m
Ta vo matlap ri m simulink chn simpowersystem ly cc khi vo ni chng
atlap m phng p ng ca h thng bin tn thut ton iu khin FOC. li
nh hnh :
Cc u vo thut ton c m phng s dng khi ngun Simulink. thay th

cho cc tn hiu u vo trong thut ton ny, chng ta s dng cc bin s im
Page 55
c nh ly trong th vin c28xdmlib ca simulink vi cc thng s bnh thng,

nh khi DMC ch i tn hiu thay i t 0-1 l gc m ca in thay i t 0
n 2 *pi. V vy , tn hiu v tr l mt chuyn i bnh thng m chng ta c th
chng t bng cch s dng Q17 nh dng c nh im. Cc u vo Ia v Ib i
din cho cc dng giai on A v B.
Khi pass Thought Control l mt subsysterm c xy dng vi m hnh.
Page 56
Vi cc thng s ci t u vo nh sau:
Khi ngun Ia:
Page 57
Khi ngun Ib:
Page 58
Kt qu m phng ta thu c cc dng song vi cc thng s trn nh sau.

Dng sng u ra.
Page 59
Dng theo trc Q,D
Page 60
Dng sng u vo:
Page 61
By gi ta c th quan st s thay i ca dng sng khi thay i cc yu t u

vo m phng trn h thng PMSM kim sot. Tng bin ca Ia v Ib ln. C
th tng gi tr Number of offset samples ca Ia ln 12500,tng gi tr Number
of offset samples ca Ib ln 12500-20000/3.
Page 62
Cc dng sng thu c ln lt l.

Dng sng u vo
Page 63
Dng u ra.
Page 64
Dng sng theo truc Q,D.
nh gi p ng ca thut ton iu khin FOC.

H thng n nh.
Sai s xc lp tc nh, sai s xc lp ca t thng rto ln.
Thi gian p ng ca h thng tng i nhanh.
Mmenet ti khng tc ng nhiu n p ng ca tc , v p ng ca
t thng roto.
Page 65
Cht lng p ng suy gim khi b nhiu tc ng ln tn hiu hi tip.

H thng d mt n nh khi c sai s m hnh hay b tc ng ca nhiu.
Dng in khi ng ln so vi dng lm vic, dng khi ng tng ln khi
c sai s m hnh.
3. Kt lun.
V c bn n ca ta hon thnh: gii quyt c khu then cht ca
n, khu then cht thit k thut ton iu chnh dng trong h TXCBP theo
nguyn l iu chnh ta t theo t thng rotor T4R. V c bn khu iu chnh
dng c chia lm 2 h chnh.
+ Mt h hot ng trn c s x l vector sai lch iu chnh (mc 7.1) v
(mc 7.2) .
+ Mt h hot ng trn c s hi tip vector trng thi.
Kinh nghim thc t cho thy: Khu iu chnh dng hot ng trn cs iu
chnh vector sai lch iu chnh hot ng vi tin cy rt cao, ngay c khi cc
thng s iu chnh km chnh xc (v d nh: tham s ch c tnh t nhn my
ch khng c xc nh thng qua o lng).
u im c th cho khu tr thnh gii php chun cho loi bin tn van nng
phi hot ng tt iu kin ng c t quen bit . Ngc li khu iu chnh
trng thi (khng phn tch trong n) kh nhy vi sai lch tham s iu chnh.
Nu c cung tham s mt cch chnh xc khu cho php t c mt vi ch
tiu cht lng cao hn khu trn v v th c th s dng c li trong h thng
cht lng cao ni m ph tn ph khng ng k.
Trong h TXCBP c cc khu iu chnh vng trong v vng ngoi khu
iu chnh vng trong ta s dng song. Sau y ta xy dng cc b iu chnh
Page 66
vng ngoi cng cc gii php i theo da trn c s iu chnh vng trong - iu
chnh dng (CD).
Page 67

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GVHD:ThS.

N MN TNG HP H THNG IN-C

TRNG I HC CNG NGHIP HN

Cng ha x hi ch ngha Vit Nam

c lp-T do-Hnh phc

Nhm Sinh vin thc hin

: TN QUANG TON V VN TRIN

: CNG NGH K THUT IN

N MN TNG HP H THNG IN-C

Ngy nay,ng c in c s dng rng ri trong mi lnh vc ca i

N MN TNG HP H THNG IN-C

Hin nay iu khin ng c c nhiu bin tn bn sn trn th trng, t

NSVTH: TN QUANG TON V VN TRIN- LP 1K3

N MN TNG HP H THNG IN-C

NSVTH: TN QUANG TON V VN TRIN- LP 1K3

N MN TNG HP H THNG IN-C

LI NHN XT CA GIO VIN

N MN TNG HP H THNG IN-C

XY DNG C S L THUYT THUT TON FOC

VI NT S LC V NG C KHNG NG B ROTO LNG SC

CC PHNG PHP IU KHIN TC NG C KHNG NG B

XY DNG C S L THUYT THUT TON FOC

GII THIU CHUNG V FOC

C S L THUYT THUT TON FOC

M T TON HC NG C KHNG NG B 3 PHA

PHP BIN I KHNG GIAN VECTO

H PHNG TRNH C BN CA NG C TRONG KHNG GIAN VECTO

CU TRC H THNG IU KHIN VECTO NG C KHNG NG B

CU HNH IU KHIN FOC

M PHNG BNG MATLAB NH GI H THNG BIN TN DNG

M PHNG BNG MATLAB

NH GI H THNG BIN TN DNG THUT TON IU KHIN FOC

NSVTH: TN QUANG TON V VN TRIN- LP 1K3

N MN TNG HP H THNG IN-C

NH GI U NHC IM BIN TN S DNG LUT FOC V V TR

XY DNG C S L THUYT THUT TON FOC

1.1.VI NT S LC V NG C KHNG NG B ROTO LNG SC

Ta i tng quan v ng c khng ng b l loi my in xoay chiu hai

N MN TNG HP H THNG IN-C

ng c khng ng b 3 pha chia thnh:

ng c khng ng b 3 pha roto lng sc

ng c khng ng b 3 pha roto dy qun

N MN TNG HP H THNG IN-C

L thp ca rotor v stator:

1.2.CC PHNG PHP IU KHIN TC NG C KHNG NG B

Ta c t phng trnh momen ca ng c : M =

th da vo iu khin moomen bng cch thay i cc thng s nh in

N MN TNG HP H THNG IN-C

Do momen ng c khng ng b t l bnh phng in p stato,do

b (ly nng lng Ps ra pht ln li).

> 1 (s<0):iu chnh cng sut trt trn ng b

(nhn nng lng ps vo ) hay cn gi l iu chnh ni cp trn ng b

th Ps = 2/3.P1 tc l cng sut ng c 1 chiu dng Ps phn gn

ng bng ng c chnh xoay chiu.nu khng nn iu chnh

NSVTH: TN QUANG TON V VN TRIN- LP 1K3

N MN TNG HP H THNG IN-C

Khi iu chnh tn s ng c ng b thng phi iu chnh c in

N MN TNG HP H THNG IN-C

lu phi l ngun dng in, tc l dng in khng ph thuc vo ti m

iu khin trc tip mmen

Kt lun :trong h thng truyn ng iu khin tn s,phng php

1.3.XY DNG C S THUT TON FOC

1.3.1 Tng quan v FOC

N MN TNG HP H THNG IN-C