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iu khin phn b mmen ng c t tr thay i c c tnh in cm phi tuyn mnh Torque Distribution Control of Switched Reluctance Motors With High Non-Linear Inductance Characteristics
Nguyn Bo Huy v T Cao Minh Trung tm Nghin cu ng dng v Sng to Cng ngh, Trng H Bch Khoa HN e-Mail: minhtc-auto@mail.hut.edu.vn Tm tt
ng c t tr thay i (SRM) c mt nhc im quan trng l nhp nh mmen ln, c bit l trong qu trnh chuyn pha dn. khc phc nhc im ny, nhiu phng php iu khin mmen c nghin cu, trong cc phng php iu khin theo cc hm phn b mmen (TDF) c bit n nhiu nht. Tuy vy, i vi nhng ng c c tnh cht phi tuyn mnh, phng php TDF vn bc l mt s nhc im. Trong bi bo ny, cc tc gi phn tch nhng hn ch ca cc phng php TDF khi s dng iu khin ng c SRM c c tnh in cm phi tuyn mnh. T nhng phn tch , cc tc gi xut phng php ci tin. Cc kt qu m phng trn Matlab/Simulink chng minh c tnh ng n ca phng php xut.
Abstract
Switched Reluctance Motors (SRMs) have an important drawback: very big torque ripple, especially in commutation intervals. To overcome this problem, several torque control methods have been investigated, of which the Torque Distribution Function (TDF) based techniques have been far the most well-known ones. However, for the motors with strong non-linear characteristics, TDF methods still have some problems. This paper provides an analysis of drawbacks of TDF methods while controlling a motor with strong non-linear inductance. An improvement solution is next proposed. The simulation results confirm the validity of the proposed technique. .
Ch vit tt
SRM TDF Switched Reluctance Motor Torque Distribution Function
1. Gii thiu
ng c t tr thay i c cu trc n gin, chc chn, bn vng v mt c kh, cho php thit k di tc cao, kh nng sinh mmen ln. Mch t ng c lm vic trong c vng tuyn tnh v vng bo ha ca ng c tnh t ha B-H, do s dng c ti a kh nng ca vt liu st t, t l cng sut trn khi lng ln. Nhng u im ny m ra kh nng ng dng ln cho SRM.
Tuy nhin, bn cnh nhng u im, SRM c rt nhiu nhc im cn khc phc. ng c c cu trc cc t li, mch t hot ng trong c vng tuyn tnh v vng bo ha nn tnh phi tuyn rt cao, c tnh phi tuyn ny li kh biu din chnh xc di dng cc phng trnh gii tch m thng di dng cc bng s liu c c qua phn tch phn t hu hn hoc t thc nghim. Nhng c im trn khin SRM tr thnh i tng kh iu khin, c bit vi yu cu cht lng cao. Mt trong nhng vn c quan tm chnh trong vic iu khin SRM l nhp nh mmen sinh ra ch yu trong qu trnh chuyn pha dn. Trong nhng phng php iu khin gim thiu nhp nh mmen cho n nay, lp cc phng php dng hm phn b mmen (TDF) t ra c hiu qu cao, c ng dng rng ri. Trong ti liu [1], tc gi Krishnan tng hp nghin cu ca mnh cng cc tc gi khc a ra mt vi dng ca phng php TDF: phng php TDF-I a ra bi Husain, TDF-II a ra bi Ilic-Spong v TDF-III a ra bi Krishnan. Cc phng php TDF-I, II a ra cc hm phn b n gin da trn dng hm cosin v m c s t nhin. Sau nhng phn tch u v nhc im ca TDF-I, II, Krishnan a ra phng php TDF-III vi dng hm phn b c tnh theo c tnh bin thin in cm ng c theo v tr rotor, b qua c tnh bo ha v h cm gia cc pha. Phng php ny c nh gi l tin tin hn hai phng php trc bi n mang thng tin v c tnh ca ng c. Sau , bng vic thm vo nhng thng s b sung c tnh n h cm, Krishnan pht trin TDF-III thnh TDFIV.
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2.2 M hnh ha ng c vi Matlab/Simulink M hnh SRM c dn t phng trnh cn bng in p mt pha cho nh sau: d ( , i) v Rs i (1) dt Trong : v in p ngun [V] Rs in tr dy qun [ ] i Dng in kch thch [A] T thng mc vng [Wb] V tr rotor [rad] T phng trnh cn bng in p (3), vi cc d liu c c t phn tch FEM, m hnh in mt pha ca SRM c xy dng trong Matlab/Simulink nh Hnh 2 vi c tnh mmen tnh v c tnh t ha c cho trong Hnh 3.
2. M hnh ha ng c SRM
2.1 Thng s ng c Trong bi bo ny, mt ng c 4 pha loi 8-6, cng sut nh mc 1.1 kW c chn lm i tng iu khin. Mt vi thng s ng c c cho trong Bng I.
Static Torque profile
60
i = 12A
40
20
Torque [Nm]
Flux [Wb]
0
i = 0A
0.5 0.4
-20
-40
0 0
Unaligned (0deg)
6 Current [A]
10
12
(a) c tnh mmen tnh (b) c tnh t ha H. 3 c tnh mmen tnh (a) v c tnh t ha (b) ca ng c.
i vi cc h truyn ng in thng thng, vng iu chnh mmen ng nht vi vng iu chnh dng in do gia mmen v dng in c quan h t
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gx gy
Lx , ix Ly , i y
(5)
2Tx* gx 2Ty* gy
2 g xTe* 2 2 gx g y 2 g yTe*
2 2 gx g y
(6)
i
* y
Biu thc (6) c dn ra t quan h c bn gia mmen dng in bin thin in cm ca SRM: 1 L , i (7) T i2 2 H truyn ng SRM vi thng s ng c cho trong Bng I. d liu phn tch FEM biu din trong Hnh 3 c m phng trn nn Matlab/Simulink, tc t nh mc 1000 v/ph, khi ng vi ti 5Nm, ng ti nh mc 10Nm sau 0.02s. Mmen, t thng, dng in cc pha, mmen tng v tc ng c c biu din trong Hnh 4 v Hnh 5.
Phase Torque
Torque [N.m]
Ta
Tb
Tc
Td
0.025
0.03
0.035
Flux [Wb]
Psia
Psib
Psic
Psid
0.025
0.03
0.035
Current [A]
ia
ib
ic
id
0.03
0.035
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Speed respond
1500 Speed
Speed [rpm]
0.005
0.01
0.02
0.025
0.03
0.035
H. 5 Mmen v tc ca ng c.
3.2 Phng php TDF vi ng c c c tnh in cm phi tuyn mnh Mc trn trnh by phng php TDF-III vi cc p ng mmen, tc , dng in, t thng, kt qu m phng cho thy h truyn ng t cht lng yu cu. Tuy nhin, i tng c s dng trong m phng trn l ng c c c tnh bin thin in cm gn tuyn tnh theo v tr rotor (c tnh phi tuyn yu). Khi p dng TDF-III cho ng c c c tnh in cm phi tuyn mnh, nhp nh mmen tr nn rt ln, khng p ng c yu cu cht lng. Kt qu m phng trong Hnh 6 cho bi h truyn ng vi vng tc h, mmen t nh mc 10Nm, mmen ti khi ng v nh mc nh trn.
15 Torque command Torque respond
Nguyn nhn sinh ra nhng nhp nh mmen ln trong trng hp ny c gii thch t biu thc tnh dng in t (6) c dn ra t biu thc tnh mmen (7). Quan h T i g th hin trong (7) c a ra vi gi thit c tnh bin thin in cm l tuyn tnh, mch t khng bo ha, khng c h cm gia cc pha. Vi trng hp tng qut, mmen cn c tnh bng o hm ca nng lng in t We theo v tr rotor: We T (8) Vi ng c c ng c tnh bin thin in cm phi tuyn mnh, quan h (7) khng cn ng na, dng in t c tnh t (6) s khng to ra mmen Torque respond p ng theo yu cu. Hnh 7 biu din ng c tnh bin thin in cm theo v tr rotor c c t phn tch FEM, c tnh ny c dc kh ln t v tr lch trc ti v tr ng trc. nh hng ca c tnh phi tuyn ti nhp nh mmen c th thy c qua Hnh 9. Hm phn b mmen TDF vn m bo cn bng tng mmen t Speed respond cho cc pha, nhng do ng c tnh i lng g c chiu dc xung, dng in t tnh t (6) s c chiu dc ln do quan h t l nghch, t dn ti mmen t cho mi pha c hng dc ln tng ng. Khi mmen cc pha khng p ng ng dng yu cu nh hm phn b TDF, mmen tng c dng xung H. 6 Nhp nh mmen ln vi phng php TDF-III ng dng nhp nh ln nh Hnh 6.
Torque [N.m]
10
0.005
0.01
0.015
0.02
0.025
0.03
0.035
Time [s]
1200 1000
Speed
Speed [rpm]
0.005
0.01
0.015
0.02
0.025
0.03
0.035
Time [s]
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0.5
dL/dTheta
-0.5
-1
-1.5
10
20
30 Theta [deg]
40
50
60
(a) Biu din dng 2D. (b) Biu din dng 3D. H. 7 c tnh bin thin phi tuyn ca in cm theo v tr rotor v dng in. Phng php TDF-III ni ring v cc phng php TDF ni chung u tnh ton dng in t theo cng thc (6), v do u b chi phi bi quan h (7). Khi i tng tr ln phi tuyn mnh, quan h (7) mt dn chnh xc, p ng mmen tng dn nhp nh, cht lng gim st. Phng n gii quyt vn a ra trong bi bo ny c trnh by trong mc IV.
TORQUE
Torque command
* ia * ib * ic * id
T*
* va * vb * vc * vd
Position sensors
PWM
Load
ia ib ic id
ia
ib
ic
id
Rotor position
1
TDF
0.5 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035
dL/dTheta
2
dL/dTheta
ga gb gc gd
Phase Current
8
Current [A]
ia ib ic id
(a)
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Torque [N.m]
Phase Flux
0.8
Flux [Wb]
Psia Psib Psic Psid
0.6 0.4 0.2 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035
Phase Current
8
Current [A]
ia ib ic id
(b) Mmen sinh ra c dc tng ng nh dng in H. 9 nh hng ca dc ng c tnh g khin mmen cc pha khng p ng ng dng hm phn b TDF.
u ra, khu hiu chnh m c thit k ht sc n gin nhng em li hiu qu ci thin cht lng. Khu hiu chnh c cho trn Hnh 10 v lut m c biu din nh Hnh 11.
Takagi-Sugeno Fuzzy Adjustment Mechanism Rule Surface
800 Rule surface 600
400
200
DeltaG
-200
-400
+ +
Delta Ga
Ga
-600
-800
-0.3
-0.2
-0.1
0 DeltaT
0.1
0.2
0.3
Integrator
Torque [N.m]
10
0.005
0.01
0.02
0.025
0.03
0.035
Torque Estimation fa
Torque [N.m]
15
10
+
Te
0.005
0.01
0.02
0.025
0.03
0.035
Khu hiu chnh m c thit k theo m hnh Takagi-Sugeno vi u vo l sai lch gia mmen t theo hm phn b TDF v mmen p ng c c lng ca tng pha; u ra qua khu tch phn l lng hiu chnh Delta g. Ch vi mt u vo v mt
Sau khi c hiu chnh, ng c tnh bin thin in cm tr nn bng phng hn, nhp nh mmen c gim thiu, so snh mmen trc v sau hiu chnh Hnh 12. Hnh 13 biu din p ng mmen v tc vng kn.
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1
TDF
0.5 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035
dL/dTheta
2
ga gb gc gd
dL/dTheta
Phase Current
8
Current [A]
ia ib ic id
(a)
Torque [N.m]
Phase A
Phase B
Phase C
Phase D
0.025
0.03
0.035
Phase Flux
0.8
Flux [Wb]
Phase A Phase B Phase C Phase D
0.6 0.4 0.2 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035
Phase Current
8
Current [A]
Phase A
Phase B
Phase C
Phase D
0.025
0.03
0.035
(b)
25
20
Torque [N.m]
15
10
0.005
0.01
0.015
0.02
0.025
0.03
0.035
Time [s]
Speed respond
1000 Speed
Speed [rpm]
800 600 400 200 0 0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
Time [s]
(c) p ng mmen v tc ng c H. 13 Kt qu m phng h truyn ng SRM vi phng php TDF c hiu chnh c tnh bin thin in cm g.
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T Cao Minh tt nghip i hc ti Tip Khc nm 1986, bo v lun n Tin s ti Canada nm 1997, v c 6 nm lm vic trong mi trng i hc v cng nghip Nht Bn (1998 - 2004); l tc gi ca 12 sng ch ti Nht Bn, M v 30 bi bo trn cc tp ch, tp san hi ngh quc t. Hin nay PGS. Minh cng tc ti B mn T ng ha, H Bch khoa HN v gi vai tr Gim c Trung tm Nghin cu ng dng v Sng to Cng ngh ca trng. Hng nghin cu ca PGS. Minh tp trung vo iu khin cc h truyn ng in, in t cng sut, cc ng dng cho t in v nng lng mi. PGS. Minh hin l Ch tch Chi hi IEEE Vit Nam, v c trng NTUST i Loan mi thnh ging nm 2010.
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