Phucmg phap DTC co nhung uru diem nhat dinh nhu khong can toi bp dieu chinh dong dien va bo dieu bien dp rpng xtmg PWM, khong phai su dimg den cac khau tinh chuyen tga do, it phu thuge t
Trang 1KET HQfP THUAT TOAN UOC Ll/ONG T 6 C B Q B A N G HE T H 6 N G
MRAS VA KY THUAT DIEU KHIfiN M d TRONG DIEU KHIEN Tir THONG VA MOMEN D Q N G CO KHONG B 6 N G B O
TRUONGMINHTAN"
l.DATVANDife Trong nhiing nam gSn day, dong co khong dong bp (KDB) dupe dung rpng rai trong cac tniyen dpng dieu chinh toe do, nhieu nghien cuu da de cap den giai phap diSu khien dgng co KDB, di^u khiIn theo quy luat U/f bang hing so [2], diSu khien dinh hucmg tir tntong [1,2,6,7], dilu khiSn true ti6p momen DTC [1,3,4,5] Phucmg phap DTC co nhung uru diem nhat dinh nhu khong can toi bp dieu chinh dong dien va bo dieu bien dp rpng xtmg PWM, khong phai su dimg den cac khau tinh chuyen tga do, it phu thuge tham so ciia may dien do vay anh huong cua Stic dien dong khong hinh sin va trgng thai bao hoa cua dpng co se giam
Su dong gop ciia nghien cuu trpng bai bao dupe phat trien bang su ket hop giua ky thuat nhan dang dimg he thong thieh nghi theo m6 hinh mau (MRAS) va
ky thuat diSu khiSn mcr tren co so he thong di ju khiSn true tiSp momen Thuat toan
nay Men quan ita viae lupng toe dp va tit thong Thuc hien he th6ng di8u khijn voi
thuat toan da dupe chiing minh bjng mo phong nhcr cong cu Matlab/Simulink
2 MO HINH TOAN D Q N G CO KHONG DONG BO
Tren he true co dinh ap, mo hinh toan cua dpng co KDB dupe mo ta nhu
, di, „ - i , rff, —
L„ — = -R •, — s — ^ - ^ + a,
dt L, L,
Trong do:
L,L, -L\ 0 - 1
I, 01 ' ' " f'"" '"''•"' " I-"'" ""'^ ' '''' " ^" '^"^
Trang 2II,,:,- vecto di?n ap (V), dong dien (A) stator; ;, - vecto dong di$n rotor; R,,
R, - dien trd (Q); L,, L, - di^n ctai (heiuy) day quan eugn day pha stator va rotor;
Lm - ho e t o (henry) giua cac eugn day
3 NGUYEN LY CUA DTC DTC la phuong phip dieu khien vectp dOng ca xoay chieu, tap xung kieh thieh true tiep cac van bien tan nguon ap tren co sd sai l?ch tir thong va sai lech momen ciia dgng co ma khong sir dgng den cac khau chuyen tga dg va bp dieu chinh vong trong nhu phuong phap tua tir truimg quay rotor
Tren he true co dinh ap, tii thong stator dupe tinh tir cong thirc
Ujlwt.Mll UilwT.MH
U,<a,J,MI Uc(«1»
woo;
al
Gan dung
^ " ^ + 1"^^' (3)
Momen di^n tu:
M = -pj^\i^^\\i//^\siuS (4)
Hinh 1 Vecto khong gian dien ap
Theo Takahashi [4], vecta khong gian di?n ap trong cac goc phSn sau S,=i 6 (gpi la cac sector) dugc trinh bay nhu hinh I Bang each chpn vecta di?n ap thieh
hgrp ta CO the dong thai tac dpng toi modul cua y/, va goc 5 xen giua y/^ va (c^.Vi
the CO the dat dupe momen yen cau
Trang 3Bang 1 Bang chuyen mqch
AYS
1
0
AM
1
s,
" 2
0 1 U7
- 1 U6
1
0
-1
U3
Uo
Us
S2
Us
Uo
Ul U4 U7 U6
S3
U4
u?
U2
Us
Uo
U|
S4
Us
Uo
U3 U6
u?
U2
Ss U6 U7 U4
Ul
Uo
U3
Ss
Ul
u„
Us
U2 U7
a,
4 QUAN HE GlCTA T 6 C D O VA MOMEN
Momen va phuong trinh dpng hpc ciia dpng co KDB
3
M
M
Trong do:
Dat e = m
-M
M
= -pi.w,
-M^ J do)
p dt '
\ - momen quan
(Dref,
- M ,
-M,
tir (6) ta co
tinh;
Jd{e3^„+e)
p dt
' p\_ dt
Do toe dp dat oo„f = const ^•
de\
dt\
dm^^
(5) (6)
= 0,(7)dupe vietlai:
p(M'M,) de
(7)
(8)
/ dt
Di6u nay chvmg tp, su thay doi cua toe dp co anh hucmg den momen dien tii cua dpng CO
5 UCiC LUONG TOC DO DUNG HE THONG
TfflCH NGHI THEO M 6 HINH M A U (MRAS)
Thuat toan ude lupng tpc dp dung MRAS d\ta tren tin hieu vao la sai lech giita dau ra h$ th6ng thuc vdi mo hinh mau va se dieu chinh sao cho sai lech do la
Trang 4f-i-K-K;
M6 hinh mau
dij/, _ L,
Mo hinh dieu chinh
rfjy^' _ L,R,
dl ~ L,
Sai so tir thong rotor giira hai mp hinh
E = \m(\i/^,\l/, ) = v':„il',p-v',pVri, (11)
(- o).D.[ff,
^
^ ) (9) ,
^ • _ | ^ j ^ - ( 1 0 )
l^
'
M6 hinh m3u
\
M6 hinh diiu chinh
\
Vr
n ^
Q)
Hinh 3 Mo hinh MRAS Toe dp CO* dupe tinh toan a' ^lip^-^kAedt (12)
kp, k, he sp khuech dai ciia khau ty 1$ \k khau tich phan ciia bp dieu khien PI
6 PHUONG PHAP DTC SLT DUNG BO DifiU KHIEN M O
De chpn vecto dien ap ling vcri b ^ g chpn chiim xung kieh thieh van bien tan Thee phan tich d muc 4, bai bap dua ra gidi phap sii dyng bp dieu khien mp voi 2 dai lupng dupe mcr hoa la su bien doi sai so toe dp va dong dien stator, (Hinh 4)
ei(k) = ro*(k)-(o'(k-l)
e2(k) = I,(k)-l.(k-l)
Gia tri dau ra: eM(k) = EM{k-l) + AEM(k) dup^c dua den bp dieu khien tre momen 3 vi tri Khi sai s6 toe dp nho, di6u nay se dong nghia voi sai lech momen nho, nghIa la chi can dieu chinh mpt lupng momen be, di?n ap cap cho dpng ea co gia tri be han di^n ap dat Toe dp thay doi cua momen se giam Nguac lai, khi sai
so toe dp Ion, di?n ap cap cho dpng ca se Ion han di§n ap d$t nhim lam giam nhanh sai l?ch momen
i=MCk) t m ,
eiOO ContolLi BDKtrl
3vitri Hinh 4 Bo diSu khiin md
Hinh 5, cac dju vao dupe chuan hoa trong dpan [-1,1], dupe chia lam 7 tap
mo (ei) va 3 t|p mo (62) Dju ra ciia bg dieu khi^n mir ciing dupe chia lam 5 tap
Trang 5Bang 2
62
ei AEM
N
ZE
P
NH
N
N
NM
N
NS
NS
NS
NS
ZE
ZE
ZE
PS
ra
PS
PM
PS
P
PH
P
P
Hinh 5 Cac lap ma
7 KET QUA MO PHQNG VA THAO LUAN
Vcri kjt qua phan tich tren, su dung phan mSm Matlab/Sunulink xay dimg
mo hinh he tniyin dgng dgng cp KDB 3 pha dieu khien true ti6p momen diing thuat toan nhan dang tfie dp ket hop vdi bg dieu khien mo
Thong so cua dpng cp: Pd„ = 4 kW, f = 50 Hz, dien ap (AAO - 220 / 380 V;
R = l,2n, R, = 1,8 n , L, = 0,1554 H; L,= 0,1568 H; L„ = 0,15 H ; J = 0,07 kgm^
p = 2
/
i
[/
\
—
iv^
N,
\
J
/
Hinh 6 Quan he giira cac ludi diiu Hinh 7 Quy dao cua tir thong stator khiin ma vao - ra
Trang 60.3 1 1.3 2
llhih H Tir ihniiii slalar (Wh)
0.3 1 1.; 2
I Tinh 9 I inn^ dii'n pha (A)
f-^
{
'\
' W
0 0.5 I 1.5 2
Hinh 10 Dap irng toe do (rad/s)
va momen (Nm)
1
Hinh 11 Dap img toe do va momen
khi giam toe
Dpng CP khpi dgng khgng tdi, tai thai dijm 0,125 s toe dg dat 157 rad/s, gia tri momen 25 Nm, sau 2 s giam toe dp xuong 100 rad/s va mpmen vin duy tii p gia tri 25 Nm Ket qua mp ph6ng da chiing minh img dyng thujt tpan dieu khiin trong
he truyen dpng dpng co KDB, chp chat lupng dieu khien tpt, cu the la djc tinh qua
dp tot, dap img mpmen d che dp xac lap ciing it dao dpng hon Sv ket hpp giua
thuat tgan nhan dang toe dp bjng he thong MRAS \k ky thuat dieu khien mil lam
he truyen dpng dpng cp khong dong bp tren cp sd dieu khien trtic tiep momen ngay eang dupe pn djnh va bSn viing hon
Trang 7TAI LIEU T H A M K H A O
[1] Nguyen Phung Quang Andreas Dittrich, Truyen dong dien thong minh, Nxb KHKT,
HaNpi, (2002)
[2] Nguyen Van Lien, Nguyen M^nh Tien, Dieu khien dong ca xoay chieu cap tir bien
tan ban ddn, Nxb KHKT, Ha Npi, (2004)
[3] I Takahashi, and T Noguchi, A new quick-response and high efficiency control
strategy of an induction machine, DEEE Trans, Industry AppI, vol 22, Sep/Oct,
(1986), pp 820-827
[4] S Belkacem, F Naceri A Betta, and L Laggoune, Speed sensorless DTC of
induction motor based on an improved adaptive flux observer, IEEE Trans Industry
Appl, Hong Kong, 14-17, Dec, (2005), pp 1192-1197
[5] Kang, J K et al, Direct Torque Control of Induction Machine with Variable
Amplitude Control of Flux and Torque Hysteresis Bands, Conf Rec, lEEE-IAS,
(1999), pp 640-642
[6] B Akin, State estimation techniques for speed sensorless field oriented control of
induction motors, M,Sc Thesis EE Dept, METU, Aug, (2003)
[7] Tadjma, H et al Speed Sensorless Field-Oriented Control of the Induction Machine,
IEEE trans On, Ind, Appl, 29 No, 1(1993), pp.175-180
S U M M A R Y COMBINATION OF SPEED ESTIMATION ALGORITHM BY MODEL REFERENCE ADAPTIVE SYSTEM AND FUZZY CONTROL TECHNIQUES
IN FLUX AND TORQLIE CONTROL FOR INDUCTION MOTOR
TruongMinh Tan
This paper presents the method of controlling induction motor with a combination of speed estimation algorithm by model reference adaptive system and fuzzy control techniques based on direct torque control system The simulation results demonstrate that the application of this control method is for good control quality, namely good transient characteristics and less oscillated torque response in steady state
* Khoa Ky thuat va Cong nghe, Tnrong Bai hoc Quy Nhan
Ngay nhan bai: 06/10/2011, Ngay nh^n dang; 03/01/2012