BI TP LN

IU KHIN T NG II
Gio vin hng dn : Sinh vin thc hin : Lp : PGS.TS Phan Xun Minh Mai c Chnh Nguyn Kh Hoan Phm Trung Thnh KT1 K50

THIT K B IU KHIN TC CHO NG C IN 1 CHIU

I. TNG QUAN V NG C IN 1 CHIU V CC PHNG PHP IU KHIN NG C IN 1 CHIU

Khi tin hnh thit k 1 b iu khin ni chung, vic u tin ta phi hiu bit v c tnh ca i tng t xy dng m hnh ton hc cho i tng. Cng vic ny cung cp cho ta nhng hiu bit v i tng , gip ta thnh cng trong vic tng hp b iu khin.

1. Cu to, phn loi v nguyn l hot ng ca ng c in 1 chiu.

a. Cu to :
Kt cu ca ng c in 1 chiu gm 2 phn chnh l phn tnh (stator) v phn ng (rotor)

b. Nguyn l hot ng :
Khi t ln dy qun kch t mt in p kch t Uk no th trong dy qun kch t s xut hin dng kch t ikt lm xut hin t thng . Tip t mt gi tr in p U ln mch phn ng th trong dy qun phn ng s c 1 dng in i chy qua. Tng tc gia dng in phn ng v t thng kch thch to thnh mmen in t.

c. Phn loi :
Cn c vo phng php kch t ngi ta chia ng c 1 chiu thnh cc loi nh sau : - ng c in 1 chiu kch t bng nam chm vnh cu - ng c in 1 chiu kch t c lp ngha l phn ng v phn kch t c cp in bi 2 ngun ring r. - ng c in 1 chiu kch thch ni tip : cun dy kch thch c mc ni tip vi phn ng. - ng c in 1 chiu kch thch song song : cun dy kch thch c mc song vi phn ng. - ng c in 1 chiu kch thch hn hp : gm c 2 cun dy kch t , 1 cun mc ni tip vi phn ng, 1 cun mc song song vi phn ng.

2. M t ton hc ng c in 1 chiu
- Tn hiu vo ud - Tn hiu ra n(t)
di Ta c phng trnh ud = i. r + L. + kl. n(t) dt

(*)

T = L/r Thi gian qun tnh in hay hng s thi gian in t Thi gian qun tnh c hay hng s thi gian in c. kd : hng s khuch i ca ng c. Phng trnh (*) l phng trnh m t ton hc ca ng c in 1 chiu. t a2 = T. Tc , a1 = Tc , ao = 1 , bo = kd, ta c :

M hnh trng thi tuyn tnh:

dn t x1 = n(t), x2 = , y(t) = x1 dt

M t ng c min tn s

3. Cc phng php iu khin tc ng c in 1 chiu

Da vo c tnh c ca ng c in 1 chiu ta c cc phng php iu khin tc sau : iu khin tc bng cch thay i t thng . iu khin tc bng cch thay i in tr ph Rf trn mch phn ng. iu khin tc bng cch thay i in p phn ng. Di y chng em ch cp n phng php iu khin tc ng c in 1 chiu bng cch thay i in p phn ng. Phng php ny c s dng ch yu iu khin tc ng c in 1 chiu kch t c lp.

a. iu khin tc ng c 1 chiu khng o chiu quay dng Tranzito - S nguyn l :

b. Phng n iu khin c o chiu quay dng Tranzito - S nguyn l dng Tranzitor :

- S nguyn l dng Tranzitor v khuch i thut ton :

iu khin tc ng c 1 chiu dng Thyristor Dng iu khin ng c c cng sut ln v in p phn ng cao. - S nguyn l :

II. THIT K B IU KHIN NG (PID)

Trn thc t c rt nhiu phng php thit k b iu khin cho ng c 1 chiu nh thit k b iu khin theo lut kinh in ( t l, t l tch phn, t l - vi phn, t l - vi tch phn), theo lut iu khin hin i ( gn im cc, phn hi trng thi-quan st trng thi), theo lut iu khin phi tuyn(SMC, Gain scheduling) . Tuy nhin trong bi tp ln ny chng em s dng phng php thit k b iu khin theo lut PID iu khin ng c 1 chiu v b iu khin PID c c tnh mm do ph hp cho hu ht cc i tng cng nghip.

1. S chc nng:

My pht tc FT o vn tc x ca ng c a tin hiu ra l in p uFT n khi cng. Khi cng c chc nng so snh tn hiu uFT vi tn hiu t r(t) v a sai lch e(t) ti b iu khin. B iu khin da vo sai lch e(t) cp in p iu khin u(t) ti cc thit b chp hnh tng hay gim in p ud t phn ng ca ng c.

2. S khi
- My pht tc FT c nhim v o tc x ca ng c, n c cu to v hot ng ging nh 1 my pht in mini c kch t c nh, b chuyn i ny coi nh 1 khu khuch i c h s khuch i Kf vi uFT = Kf.x. - ng c in 1 chiu bin i tn hiu in thnh tn hiu c theo phng trnh :

kd GC ( s ) = 2 Tu .Tc .s + Tc .s + 1

- Thit b chp hnh chuyn tn hiu iu khin u(t) tc ng vo cc c cu chp hnh (Tranzitor, Thyisror ) iu chnh in p cp vo phn ng ng c .

du d (t ) TCH . + u d (t ) = K CH .u (t dt
- => Thit b chp hnh l khu qun tnh bc nht c hm truyn : K CH

GCH =

B iu khin thc hin theo lut PID cn c xc nh thng s v cu trc.

1+ TCH .s

G K

1 = K P .(1 + + TD .s ) TI .s

=> S cu trc :

3. Thit k b iu khin PID

- M hnh tng qut :

- Da vo m hnh i tng ta thit k b iu khin theo phng php ti u m un theo lut PID - ADD -t KT = KCH.kd.Kf, T1 = TCH, -1/T2 ,-1/T3 l nghim ca phng trnh

=> Bi ton thit k : La chn cc tham s ca b iu khin iu khin i tng c m hnh hm truyn GT(s) nh trn to ra 1 h thng n nh v t tiu chun cht lng.

- p dng c phng php ti u mun ta a bi ton v m hnh dng chun iu khin:

Vi

l hng s thi

gian tng. Ta nhn c cc tham s ti u ca lut iu khin PID ADD :

4. S nguyn l ca h thng iu khin

- tng tin cy ca b iu khin, trn thc t ngi ta thng chia b PID ra tng thnh phn chc nng :

5. nh gi tnh n nh v cht lng ca h thng iu khin

- Chn ng c 1 chiu c T = 1 , Tc = 4 , kd = 15. - My pht tc c Kf =0.012. - Thit b chp hnh c TCH = 2, KCH = 20 - Chn ng c 1 chiu c T = 1 , Tc = 4 , kd = 15. - My pht tc c Kf =0.012. - Thit b chp hnh c TCH = 2, KCH = 20

a.c tnh ng hc ca h thng :

/* Hm qu xung :

Impulse Response 0.06

0.05

0.04

Amplitude

0.03

0.02

0.01

-0.01

10

15

20

25

30

35

40

45

Time (sec)

/* c tnh tn s nyquist
N u Dg m yq ist ia ra 1 0 .8 4d B 2d B 0d B -2d B -6d B B 0 .6 6d 0 .4 Imaginary Axis 0 .2 0 -0 .2 -0 .4 -0 .6 -0 .8 -1 -1 1 d 0 B 2 d 0 B -1 d 0 B -4d B

-2 d 0 B

-0 .8

-0 .6

-0 .4

-0 .2

0 Ra A e l xis

0 .2

0 .4

0 .6

0 .8

/* c tnh tn s lga
Bd D g m o e ia ra 0

Magnitude (dB) Phase (deg)

-2 0

-4 0

-6 0

-8 0 0 -4 5 -9 0 -1 5 3 -1 0 8 1 0
-3

1 0

-2

1 0

-1

1 0

1 0

F q e cy (ra /se re u n d c)

c.Kho st cht lng ca h thng s dng Matlab-Simulink

- Vi tn hiu vo l xung bc thang :

- Vi tn hiu vo l xung nhn :

- Tn hiu vo l sng hnh sin :

- Nhn xt : Mc d cc tn hiu vo khc nhau nhng cht lng ca h lun lun c m bo. Nh vy cu trc ca h iu khin l hon ton m bo yu cu v tnh n nh cht lng

6. Hiu chnh cc thng s ca b iu khin.

- Cc thng s ca b iu khin PID c chn theo phng php ti u mun nh trn m bo h thng cho lm vic n nh. T th c tnh qu ca h thng ta thy thi gian qu l qu di (35 sec) do cn gim thi gian qu ca h thng h thng c th tc ng nhanh hn. - Ta s hiu chnh thng s ca b iu khin PID da vo c tnh sau ca cc khu iu khin : - Khu t l c tnh tc ng nhanh, khi u vo c sai lch th tc ng ngay tn hiu u ra. Tuy nhin khu ny lun tn ti sai lch d. - Khu tch phn loi b sai lch d ca h thng nhng l khu tc ng chm. - Khu vi phn l khu tc ng nhanh

- u tin ta gim thi gian qu bng cch tng h s KP : chn KP1 = 0.93, KP2 = 5, KP3 = 10 ng vi cc m hnh hm truyn h kn gk1, gk2, gk3 ta uc th c tnh qu xung :
System: gk3 Time (sec): 6.87 Amplitude: 1.42 1.5 Step Response System: gk2 Time (sec): 10.4 Amplitude: 1.28

System: gk3 Time (sec): 4 Amplitude: 0.995 1 System: gk2 Time (sec): 6.24 Amplitude: 0.995 System: gk1 Time (sec): 33.3 Amplitude: 0.994

Amplitude 0.5 0

10

15

20

25

30

35

40

45

Time (sec)

- Ta thy khi KP tng th Tq gim nhng qu iu chnh tng (sai lch tnh tng). ci thin c tnh ny, ta tng cc tham s TI , TD ng vi gi tr ca KP ln nht (KP3) - Chn TI1 =4,TI2 = 6, TI3 =10 tng ng vi gk1, gk2, gk3 : S mg 1 yste : k
T e(se 6 5 im c): .8 A p d :1 2 1m litu e .4 .5 S pR sp n te e o se S mg 2 yste : k T e(se 6 6 im c): .6 A p d :1 7 m litu e .2

1 Amplitude

S mg 3 yste : k T e(se 6 1 im c): .6 A p d :1 5 m litu e .1

0 .5

1 0

1 5

2 0 T e(se im c)

2 5

3 0

3 5

4 0

4 5

- Ta thy khi TI tng th qu iu chnh gim. Tuy nhin th c tnh vn cn tn ti dao ng. trit tiu cc dao ng ny ta iu chnh h s TD ng vi h s KP v TI ln nht : - Chn TD1 =1 , TD2 =1.5 , TD3 =2 tng ng vi gk1, gk2, gk3 :
Step Response 1.4 System: gk2 Time (sec): 5.92 1.2 Amplitude: 1.07 1 System: gk3 Time (sec): 5.17 Amplitude: 1.01 System: gk1 Time (sec): 6.49 Amplitude: 1.15

Amplitude

0.8

0.6

0.4

0.2

10

15

20 Time (sec)

25

30

35

40

Xin chn thnh cm n