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

VCCA-2011
Kho st c im n nh ca m hnh trng thi gin on ca ng c
ng b kch thch vnh cu
Stability analysis of discrete state space model of permanentmagnet-excited
synchronous motors
Phm Tm Thnh*, Nguyn Phng Quang**
**Trng i hc Bch Khoa H Ni, email:quangnp-ac@mail.hut.edu.vn
*Trng H Hng Hi Vit Nam, email:phamtamthanh@vimaru.vn
Tm tt
Bi bo cp n cc phng php xy dng m
hnh khng gian trng thi gin on ca ng c
ng b kch thch vnh cu. Cc m hnh ny l c
s thit k iu khin trong iu kin thi gian
thc. Trn c s m hnh va tm c, c im n
nh c kho st trong bi bo. Cc kt qu m
phng c a ra chng t tnh ng n ca
phng php a ra v ha hn trin vng thit k cc
b iu khin tuyn tnh v phi tuyn sau ny.
Abstract
The paper proposed novel methods to construct
Discrete State-Space Permanent Magnet Synchronous
Motor Models. These models are crucial for
development of a robust real-time controller. Based
on obtained models, stability analysis has been
conducted in this paper. Simulation results confirmed
that excellent performance has been indeed achieved
via the proposed methods, leading to a promising
approach to aid the design linear controllers and
nonlinear controllers.
Keywords: Real-time control, PMSM, discrete-time
model, simulation, digital control.
K hiu
K hiu n v ngha
A, B, N, S ma trn ca m hnh
L
sd
, L
sq
H in cm dc trc v
ngang trc ca stator

s
,
rad/s vn tc gc stator, vn tc
gc rotor

p

Wb = Vs i lng nhiu c bin
c nh (ng thi l t
thng rotor vnh cu
u
f
s
vector i lng u vo
(ng thi l vector in
p stator) vi cc phn t
l s thc
L
sd
, L
sq
H in cm dc trc v
ngang trc ca stator
T
sd
= L
sd
/R
s
hng s thi gian trc d
ca mch stator
T
sq
=L
sq
/R
s
hng s thi gian trc q
ca mch stator
R
s
in tr ca cun dy pha
stator
T s Chu k trch mu
i
f
s
vector trng thi (ng
thi l vector dng stator)
vi cc phn t l s thc
Ch vit tt
PMSM Permanent Magnet Synchronous Motor
CB ng c ng b
TTG Trng thi gin on
1. Phn m u
Tm quan trng trong cng nghip ca vic iu
khin ng c ng b kch thch vnh cu (PMSM)
c gia tng cho mt vi nm gn y. Lp ng
c ny t c hiu qu tt, ngang bng v thm ch
vt tri hn hiu qu ca cc ng c cm ng
thng tr ngnh cng nghip trong mt thi gian di.
Vn iu khin li gp rt nhiu kh khn do ng
c ng b l mt i tng phi tuyn phc tp.
Trong nhng nm gn y, in t cng sut v k
thut vi x l c bc pht trin rt mnh m, do
n cho php thc hin phng php iu khin s
vi khi lng tnh ton ln, v do b iu khin
ng c xoay chiu dn thay th b iu khin
ng c mt chiu trong phn ln nhng ng dng
cng nghip. Thc hin iu khin s cho ng c
ng c ng b c thc hin kh thnh cng trong
cc ti liu [1], [2], [3]. M hnh TTG trn h ta
dq l xut pht im khi thit k h thng iu khin
(K) thi gian thc v c ngha quyt nh ti cht
lng ca h thng K s (Digital Control) ca ng
c ng b kch thch vnh cu.
Hnh 1 th hin rt r 2 gii php xy dng m
hnh TTG trn h ta dq ca CB.
Gii php (1): M hnh TTG ca CB trn h ta
dq thu c nh gin on ha m hnh trng thi
lin tc trn h ta dq, l m hnh kt qu ca vic
chuyn t h ta sang dq. C ngha l, vic gin
on ha xy ra sau khi chuyn h ta . Nu cho
n nay ta lun phn tch cc kh khn do
s
(ch xut
hin sau khi chuyn h ta ) gy nn cho m hnh
trn h ta dq, v cng vi
s
l cc gi tr ring
ph thuc
s
.
Ta cng c th la chn gii php (2): thc hin gin
on ha trc khi chuyn h ta . Tc l m hnh
gin on dq thu c bng cch chuyn h ta
cho m hnh gin on . Bng cch ta c th
trnh cc gi tr ring phc ca ma trn h thng cng
nh s mt n nh c th xy ra sau khi gin on
ha. Kt qu thu c s l mt m hnh TTG c
phm vi n nh ln hn, phc v thit k khu iu
chnh, khu quan st. Trong cc thnh phn ca ma
trn chuyn trng thi xut hin cc hm lng gic
sin(
s
T) hoc cos(
s
T). Phng php ny c hiu qu
c bit i vi cc h truyn ng cao tc (truyn
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
ng ly tm, bm chn khng, my mi cao tc...). Ta
s thu thp m hnh cn thit theo phng php ny.
Gii php (1) hay cch tip cn th nht c ch ra
rt r, rt chi tit trong [1,2]. Tuy nhin cha c ti
liu no cp mt cch c th v cch tip cn th
hai, m mi ch gi m hng i. Trong bi bo ny,
cc tc gi s i su v gii php (2).
Sau khi tm c m hnh TTG ca CB, bi bo
tp trung kho st nh gi c im n nh ca m
hnh TTG ca CB. c im n nh (trn c s
v tr im cc) ca m hnh TTG ca CB ph
thuc:
- Chu k trch mu T ca h thng iu khin s
- Tn s cng tc / 2
s s
f w p
- S thay i ca tham s ng c in (in tr,
in cm).
Cu trc bi bo gm: phn m u c trnh by
trong mc 1, phn ni dung c a ra mc 2 v 3,
mc 3 th hin kt qu m phng rt c th v cui
cng l phn kt lun trong mc 4.
1. Chuyn ta
2. Chuyn ta
2
.

G
i

n

h

a
1
.

G
i

n

h

a
(2)
(1)
dq
dq
MHTT lin tc MHTT lin tc
MHTT gin on MHTT gin on

H. 1 Cc phng php tm m hnh khng gian trng
thi gin on ca PMSM trn h ta dq
2. Xy dng m hnh trng thi gin on
ca CB trn h ta dq thch hp vi
iu khin thi gian thc
2.1 Xy dng m hnh TTG ca CB ba pha
trn h ta dq bng phng php gin on
ha m hnh trng thi lin tc trn h ta dq
Gii php (1) c thc hin rt chi tit trong [3]. Ti
liu [3] a ra m hnh TTG ca CB kch
thch vnh cu trong h ta dq
( ) ( ) ( )
p
f
s
f f
s
f f
s
h k u H k i k i + + u = +1 (1)
2.2 Xy dng m hnh TTG on ca CB ba
pha trn h ta dq bng phng php gin
on ha m hnh trng thi lin tc trn h ta
v s dng php chuyn ta
Trong ti liu [3] gi m cch thc hin gii php
(2). Trong bi bo ny, cc tc gi thc hin theo gii
php (2) mt cch c th qua 2 bc:
- Bc 1: Thc hin gin on ha m hnh trng
thi lin tc ca ng c ng b kch thch vnh cu
trn h ta
- Bc 2: Thc hin chuyn h ta t h sang
h ta dq thu c m hnh TTG ca ng c
ng b kch thch vnh cu trn h ta dq.
S dng cc phng trnh ca CB trong ti liu
[3] ta c m hnh khng gian trng thi lin tc ca
PMSM trong h ta stator nh sau:

s
s
s s
s
s
s
s
u B i A
dt
i d
+ = (2)
Bc 1 ca gii php (2) ta s tin hnh gin on ha
m hnh (2). Thc hin tch phn (2) trong phm vi
chu k trch mu T ta thu c m hnh gin on
tng ng sau y ca ng c ng b:
( ) ( ) ( ) k u H k i k i
s
s
s s
s
s s
s
+ u = +1 (4)
Trong :
(
(
(
(

= u
|
o
s
s
s
T
T
T
T
1 0
0 1
;
(
(
(
(

=
|
o
s
s
s
L
T
L
T
H
0
0
(5)
Hnh 2 th hin m hnh trng thi gin on ca
ng c ng b trn h ta stator.

H. 2 M hnh TTG ca ng c ng b trn h ta

Nh vy, ta c trong tay m hnh gin on ca
ng c ng b nhng trong h ta stator. Mc
ch ca chng ta l m hnh gin on trong h ta
t thng rotor nn ta phi chuyn m hnh va tm
c sang h ta mong mun l h ta dq.
chnh l bc 2 ca gii php (2)
thc hin vic chuyn h ta ta s dng phng
php Euler trn h ta thch hp. Tuy nhin cch
ny c mt c im: ch c th p dng cho nhng
loi m hnh c ma trn h thng l i xng. Ma trn
h thng
s
trong (5) ch tha mn iu kin ny khi
ta b qua s chnh lch gia in cm stator trn hai
trc , . Trn thc t, iu ny c th chp nhn
c trong di tc quay c s.
Ta c:
(

+
+
= u
aT
aT
s
1 0
0 1
;
(

=
bT
bT
H
s
0
0
(6)
vi
s
T
a
1
=
;
s
L
b
1
=

Lc ny, cc vector trng thi v vector u vo c
vit chuyn thnh cc bin phc ri thay vo (4) ta
c:
( ) ( ) ( ) ( ) k u bT k i aT k i
s
s
s
s
s
s
+ + = + 1 1 (7)
thu c m hnh gin on trn h ta dq, ta
p dng cng thc chuyn h ta V
xy
= V
*
e
j

*

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

VCCA-2011
V
*
= V
xy
e
-j

*
cho (7) v rng h ta dq
chuyn ng tng i so vi h ta vi tc
gc :
( ) ( )
( ) k j
f
s
s
s
e k i k i
0
=
( ) ( )
( ) 1
1 1
+
+ = +
k j
f
s
s
s
e k i k i
0
(8)
Gc quay (gc chuyn h to ) J lc ny cng l
gc gin on tnh theo phng php Euler:
( ) ( ) T k k e 0 0 + = +1 (9)
Thay (8) v (9) vo (7) ta thu c m hnh gin on
trn h ta dq c dng:
( ) ( ) ( ) ( ) | | k u bT k i aT e k i
f
s
f
s
T j f
s
+ + = +

1 1
e
(10)
Vit (10) tr li dng ma trn vi cc ma trn ca m
hnh gin on nh sau:
( ) ( ) ( ) k u H k i k i
f
s
f f
s
f f
s
+ u = +1 (11)
Trong :
(
(
(
(
(

|
|
.
|

\
|

|
|
.
|

\
|

|
|
.
|

\
|

|
|
.
|

\
|

= u
T
T
T
T
T
T
T
T
T
T
T
T
s s
s s
f
e e
e e
cos 1 sin 1
sin 1 cos 1

(12)
(
(
(
(

=
T
L
T
T
L
T
T
L
T
T
L
T
H
s s
s s
f
e e
e e
cos sin
sin cos

Nh vy, ta thu thp c m hnh trng gin on
ca ng c ng b ba pha c kch thch vnh cu
trn h ta dq theo hai phng php. Sang phn
sau, chng ta s i kho st c im n nh ca m
hnh ny cn thit cho qu trnh thit k b iu
khin/iu chnh sau ny.
3. Kho st c im n nh ca m hnh
trng thi gin on ca ng c ng b
M hnh trng thi gin on ca ng c ng b
phc v cho mc ch thit k h thng iu khin s
ng c ng b, trc khi thit k chng ta cn tin
hnh kho st c im n nh ca m hnh va tm
c. tin cho vic kho st, xin nhc li m hnh
xy dng trn:
( ) ( ) ( ) k v H k i k i
f f f
s
f f
s
-
+ u = +1
Trong :
| |
sq sd
f
s
i i i , = ,
| |
s sq sd
f
u u v e , , = ,

(
(
(
(

= u
sq sq
sd
s
sd
sq
s
sd
f
T
T
L
L
T
L
L
T
T
T
1
1
e
e
(13)

(
(
(
(

=
sq
p
sq
sd f
L
T
L
T
L
T
H

0
0 0
* . (14)
Ta tm c phng trnh c trng ca m hnh:
0 1 2
2 2
2
2
=
|
|
.
|

\
|
+ + +
|
|
.
|

\
|
+ +
s
sq sd sq sd sq sd
T
T T
T
T
T
T
T
z
T
T
T
T
z e
(15)
Ta c th thy nghim ca phng trnh c trng
(15) ph thuc vo cc tham s trn tc l v tr cc
im cc ca m hnh trn mt phng z s thay i
khi cc tham s ny bin thin. Nhng cht lng ca
h thng ph thuc trc tip vo v tr cc im cc
ny v vy vn t ra l xc nh xem cc nghim
ca (15) chuyn ng trn mt phng z nh th no
khi mt tham s ca m hnh thay i, qua cho
php ta thit k mt h thng iu khin t cht
lng nh mong mun ( ch xc lp v qu ).
thc hin iu ny ta s dng phng php qu
o nghim s cho h ri rc. Ban u phng php
qu o nghim s c xy dng xc nh qu
o cc nghim ca phng trnh c trng khi h s
khuch i K ca h thng thay i t 0 n v cng.
Tuy nhin, nh hng ca cc tham s khc ca h
thng cng c th xc nh c da trn qu o
nghim s. V m hnh h thng c nhiu tham s nn
khi kho st nh hng ca tham s no ta ch gi li
tham s , cc tham s cn li c th chn gi tr ph
hp.
Xt mt CB kch thch vnh cu c cc thng s:

s
= 2f
s
= 100 rad/s,
R
s
= 2.875 ,
L
sd
= 0.0085 H,
L
sq
= 0.00765 H, (16)

p
= 0.175 V.s,
p
c
= 4 cc,
T = 500 s.
3.1 nh hng ca chu k trch mu n tnh n
nh ca m hnh
Thay cc tham s ca ng c chn vo (15). Khi
nh hng ca tham s T n m hnh c th c
kho st thng qua phng trnh:
0
1 2
052 . 714 052 . 714
1
2
=
+

+
z z
z
T
(17)
S dng phn mm Matlab ta s thu c ng qu
o nghim s khi T thay i c xy dng t
phng trnh (17) v c dng nh hnh 3
320
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

H. 3 Qu o nghim s ca phng trnh c trng khi
T thay i
Giao im ca qu o nghim vi vng trn n v
l im (-1 + 0j) ng vi gi tr T = 0.0028 => T
gh
=
0.0028 (s).
Vy m hnh h thng n nh khi tha mn iu kin
T < 0.0028 (s). iu ny l hon ton tha mn vi
cc h thng truyn ng in hin i, bi v chu k
trch mu thng chn nh hn 450s, tc l lun nh
hn 0.00028(s)
Th li vi T = 450 s, ta c v tr im cc v p
ng bc nhy ca h thng nh hnh 4, m hnh
trng thi gin on hon ton n nh.



H. 4 V tr im cc (a) v p ng bc nhy ca h
thng (b) khi T = 450 s
3.2 nh hng ca tn s cng tc n tnh n
nh ca m hnh
Tng t, nh hng ca tham s
s
n m hnh c
th c kho st thng qua phng trnh:
0
674772 . 0 643 . 1
10 5 . 2
1
2
7
2
=
+

+

z z
s
e (18)
S dng phn mm Matlab ta s thu c ng qu
o nghim s khi
s
thay i c xy dng t
phng trnh (18) v c dng nh hnh 5

H. 5 Qu o nghim s ca phng trnh c trng khi
s thay i
Giao im ca qu o nghim vi vng trn n v
l im (0.822 + 0.568j) ng vi gi tr
6 2
10 29 . 1 =
s
e
=>
sgh
= 1135 (rad/s) => f
sgh
= 180
(Hz).Vy m hnh h thng n nh khi f
s
< 180 (Hz).
Khi chu k trch mu gim xung th gi tr gii hn
ca tn s cng tc s c nng ln.
Th li vi
s
= 200 rad/s, ta c v tr im cc v
p ng bc nhy ca h thng nh hnh 6, m hnh
trng thi gin on hon ton n nh.




H. 6 V tr im cc (a) v p ng bc nhy ca h
thng (b) khi s = 100 rad/s
3.3 nh hng ca tham s ng c n tnh n
nh ca m hnh
Trong qu trnh hot ng, cc tham s ca ng c,
c th l in tr, in cm stator lun c s bin
ng ph thuc vo nhit v ch cng tc.
nh hng ca tham s R
s
n m hnh c th c
kho st thng qua phng trnh:
0
02467 . 1 2
11765 . 0 11765 . 0
1
2
=
+

+
z z
z
R
s
(19)
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
S dng phn mm Matlab ta s thu c ng qu
o nghim s khi T thay i c xy dng t
phng trnh (19) v c dng nh hnh 7


H. 7 Qu o nghim s ca phng trnh c trng khi
R
s
thay i
Giao im ca qu o nghim vi vng trn n v
l ba im (-1 + 0j); (0.988 0.153j) ng vi gi tr

=
=
212 . 0
1 . 17
2
1
s
s
R
R
=>
( )
( )

O =
O =
212 . 0
1 . 17
2
1
gh
gh
R
R
.
Vy m hnh h thng n nh khi 0.221 < R
s
< 17.1
(). iu ny l hon ton tha mn vi s bin thin
ca in tr ng c ang kho st trong thc t.
Th li vi R
s
= 10 , ta c v tr im cc v p
ng bc nhy ca h thng nh hnh 8, m hnh
trng thi gin on hon ton n nh.



H. 8 V tr im cc (a) v p ng bc nhy ca h
thng (b) khi R
s
= 2.875
4. Kt lun
Bi bo gii quyt c cc vn sau:
- Ch ra c 2 phng php xy dng m hnh
trng thi gin on ca CB trn h ta . M
hnh ny phc v cho thit k h thng iu khin
s ng c ng b.
- Vn kho st c im n nh ca m hnh
ph thuc vo cc tham s c thc hin trong phn
3. Nhn chung, n nh ca m hnh ph thuc
nhiu vo vic chn T. Chu k T cng nh, phm vi
n nh cng nh di tn s cng tc n nh, s bin
thin cc tham s ng c (in tr, in cm) s
cng ln. Tuy nhin khi T cng nh s lm cho nng
sut tnh ton tng ln dn n u t v phn cng
ln. V l do y, ngi k s thit k s phi a ra
c mt s la chn dung ha gia phm vi n nh
cn ln v nng sut tnh ton tng ln (do T b i).
Bi bo mi dng li vic kho st tnh n nh ca
m hnh ph thuc vo cc tham s m cha thit k
cc b iu khin s cho ng c. Trn c s n
nh v yu cu cht lng c th ca h thng, ta
c th thit k b iu khin s s dng vi x l, vi
iu khin vi i tng l m hnh ng c va
c xy dng, kho st c im n nh.
Ti liu tham kho
[1] Nguyn Phng Quang: iu khin t ng
truyn ng in xoay chiu ba pha, NXB Gio
dc, 1998
[2] Quang. Ng.Ph.; Dittrich, J.-A.: Vector control of
Three-Phase AC Machines-System
Development in the Practice. Springer Berlin
Heidelberg, 2008
[3] Nguyn Phng Quang, Joerg-Andreas Dittrich:
Truyn ng in thng minh, NXB Khoa
hc&K thut, 2004
[4] Nguyn Phng Quang: Matlab&Simulink dnh
cho K s iu khin t ng, NXB Khoa
hc&K thut, 2004


Sau khi tt nghip ph
thng Chu Vn An nm
1970, i du hc ti c
(TU Dresden, vit tt:
TUD). Thng 9/1975 tt
nghip Dipl.-Ing. (Uni.)
ti TUD v truyn ng
in t ng. Thng
11/1991 bo v lun n
Dr.-Ing. vi ti v p
nhanh mmen quay cho
ng c xoay chiu ba
pha nui bi bin tn
ngun p.

Trong 4 nm 1992-1995 lm vic ti cng ty
REFU Elektronik Metzingen vi nhim v pht
trin th h bin tn mi iu khin trn c s
phng php ta theo t thng rotor, thng 4/1994
bo v v nhn bng Dr.-Ing. habil. thuc lnh vc
iu khin t ng truyn ng in xoay chiu
ba pha. Firmware iu khin c ci t trong
cc bin tn REFU 402 Vectovar, RD500 (REFU
Elektronik), Simovert 6SE42, Master Drive MC
(Siemens).
Ba nm 1996-1998 l ging vin ti TUD v
thng 10/1997 c TUD cng nhn l
322
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Privatdozent. Thng 1/1999 quay v Vit Nam v l
ging vin ca HBK H Ni t n nay. Thng
2/2004 c TUD phong Honorarprofessor, thng
11/2004 nhn chc danh Ph Gio s v 11/2009
Gio s v T ng ha ca HBK H Ni.
Trong hn 10 nm HBK H Ni hng dn
70 k s, 40 thc s, v ang hng dn 8 NCS
(trong c 1 NCS ngi c ca TUD). L tc
gi / ng tc gi ca hn 110 bi bo, bo co hi
ngh trong v ngoi nc. L tc gi / ng tc gi
ca 7 u sch chuyn kho v tham kho, trong
c 3 quyn bng ting c v 1 quyn ting Anh
Vector Control of Three-Phase AC Machines
System Development in the Practice xut bn 2008
ti nh xut bn Springer.
Cc lnh vc nghin cu: iu khin truyn
ng in, iu khin chuyn ng v robot, iu
khin vector cho cc loi my in, iu khin in
t cng sut, iu khin cc h thng nng lng
ti to (sc gi, mt tri), h thng iu khin s,
m hnh ha v m phng.



Phm Tm Thnh tt
nghip K s ngnh T
ng ha Trng i hc
Bch Khoa H Ni (HUT)
thng 6/2003. T 6/2003-
6/2004 lm K s in ti
cng ty xy lp in
KURIHARA (Nht Bn),
tham gia cc d n in
c: Nh my TOTO, Nh
my RYONAN, Nh my
YASUFUKU, Nh my x l nc sch ti Khu
Cng Nghip Bc Thng Long - H Ni. Tham gia
d n nh my SUMIRUBBER - Khu cng nghip
Nomura Hi Phng.
T 6/2004 l Ging vin B mn in t ng
cng nghip-Khoa in-in t tu bin-Trng
i hc Hng Hi Vit Nam. Nhn bng Thc s
khoa hc ngnh T ng ha nm 2008 ca Trng
i hc Hng Hi Vit Nam. L thnh vin ca
Vin K ngh in-in t (Institute of Electrical
and Electronics Engineers-IEEE).
Hin ang l nghin cu sinh ca Trung tm nghin
cu v trin khai cng ngh cao-Trng i hc
Bch Khoa H Ni.
Lnh vc nghin cu chnh: iu khin truyn ng
in, iu khin vector my in, iu khin lgic,
m hnh ha v m phng, h m v ng dng.

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