Đại cương về điều khiển số máy điện

rtl~·u dieu khie'n va song Ulllng. Song lllang wltl lil eM' doan t.hA.ng d6c len th,',) phttc1ng trinh: I, T • :'.:I1~ ttt chuyen mach d vi tri dong t~i cae thai lti!'>'m In xae d\nh thpo dong ho tan s6 L~U u!nn rn = nTh villi VI 1ft mrill tnt;i dil,'m t' " xlle ltinh hfing giau Jif:m ella dieu khien Olt I vdi ,.,(jng mang. 'Thoi dip'm t',> lltll!C xlic dinh "ill''''': p!li{,jll.:,: ll'lllh. - 1, T , I)" ,,6 chu ky Hinh 9.20 180 vi du ella phudng phap Jieu khipn nay. 'l'rpn hlnh g.20e 1:'1. ph6 di€u hoa dong di~n ta th1y bien Ct9 cao ella song Cd han [")0 Hz va C~1r dieu hoH. b~c cao xung quanh tflll so chuyen m~u~h va di"eu hoa bi).e nhat (,lla chuyen m~eh nay. 'fa nhan thay dieu hil"'n d\ch tTai v~l. ta dt!d(' h0 ('}1(' dif.u hoa co eac b:).e :;1\'.; <IIL1.1 khi(;n IJipu hila cd b:1.n tUll kihlL' hf~lIlL\'(.n m:!ch + pftJL6.r k!\l0n doi vdi ho cae uif.u hoa uQi h cua tAn c:r; "I. 11l~eh, p ia 56 nguyen dl.ldng ho~c am, chan ho!j.(' Ie .\ ~' .........../:.,'1:: 1 J._.....-"'--::;11 0,' t, 0 w , -wrn ------------ --------.---- -- o 0) oj 0 ." -" ·30 -" ·50 -50 0 . t 0.4 0.2 -O,~ ! I -0,4 - -0 .• -0,8 ., f--~~~~_____,________, i --., .. ----,-• (] 0,1/02 0,004 Q,U{]6 0.008 0,01 0_0120.014 0,0150.018 0,(]2 n'oi gian (s) rh = 0.8 ms Jdieu Ithieh~50HL fchvyen mf'eh ~ 1250 Hz Chu ky di€u khi€n~20ms b, Oiing ,ji~n fren fdi RL Jed plIO rp '" arctan {21l L(IR} d) (Hz) Hlnh 9.20. a) Nguyen Iy: b) Chuy~n ml),ch: 0) Tin hi~u logic di@u khien cae phAn tU chuyen mach. d) Dieu bien don tin hi$u dieu khien va dong (lien i e) Ph6 dieu hOa dong di~n. 262 9.5.1.2 Dtiu bien tll'flnK tu d(ri xfinK Phuong an di(lU khien nay Btl dl,lng song ll1ang d6i xung lit cac do~n thAng co phudng trlnh: wet) wet) "" 4(t - tn) w m ( - 1) To 4(t - tn) (--~-- + 3) To Neu bien thien diEm khien u khong qua nhanh ~hi cae giao diem gan doi xt1ng vaj thai Thai diem cae giao dWn\ lil: 41t 'n - \,1 u(t' n) = wn/ ... _--- 11 (9- 33) To u(t" n) 4(t"n - tn) a) (9- 34) = wm(---·-~· + T" (t" n - t' n) Iy so chu ky la: ", =------ T" Hinh 9.21 la vi d\l dieu khien nilY vai cling cae t.ri BO clla do~n truac. Tren hlnh 21e ta thi'ly bien dQ cao cu.a song co ban 50 Hz nhttng so vaj PWM I~ch tnij ta thily d day PWM a tam cho cac di"eu hoa hac cao it hdn d xung quanh tan BO chuy€n m~ch va boi etla ehling. Cae b~e dieu hoa co dt,tng: - [,lit'll khn:'n (song co ban ciin tim); hfchuy0n m,ch + 2pf,IiL't.1 ~Il'('n vai hQ cac dieu hoa quanh h¢i h clla tan so chuyen m~ch, p la so nguyen chan hoac Ie. Cac thanh phiin kieu hfchuyc.n n,,:'ch + pfdl~'lJ khl~n viii p nguyen, Ie UR bip"n mat_ 9.5.2 Di~u bi6n 56 deu Cae ky thuat trinh bay trong tnl,lC truac d~ip ung tOt yai dieu khien tuong t.u, nhung ta thay cac phuong trinh (9-32) Min (9-34) la cac phuong trinh siE-U Yi~t, hai vi 0 che dQ xac I~p vi d,1 u(t) =' Umsinwt, nghi~1ll cua chung trong thai gian thl,fc kh6ng duClC ho vi x\c Iy dl,f tinh Can phii tim kiem cac chuyen doi s6 t.uClng d6i t.rl,fc t.ie'p d~' don gUm de' don gi8.n tinh toano Trong truang hQp nay tin hi~u dieu khien la tin hi~u so dUQc lay m~u va 263 w,o Wjw", ,u/wm wm ----------- .. , c a c 0,8 0.' 0,' 0, tn+l·t~+Th t t' " tn+1 ' t , " a) 0.002 OJIOG 0,01 TMli girm (5) f chuyeh mgch: 1250 Hz c) 0,' 0,' 0,' 0.' 0 -0.2 -0.4 -0.5 -0,8 ., (] 0,002 0.004 ODIl6" aOO8 0.01 DlJll Q,JI4 Ga'lI; (1.0',8 0,02 Thili 910n (5) Tio • 0,8 ms f (/re" khlen • 50 Hz f chI/yen mach ~ 1250 HZ Chu ky chuyln trK!ch: lams !II"""" i " 0,' 0 .. 0.' . , bJ , , " , (] 0,G05 0.0/ O,OJ!i 0,02 0,025 OJlJ 0.035 OJJ~ rhdi gian (5) HI"h 8.21 PWM tudng toJ trung tam. a) Nguyl!n Iy; b) CAe tfn hieu trong mot chu ky Ij'n hieu d(@,u khien, c) tin hieu logic; d 1 'lieu c..en ::lai xting lien t\,le - tin hi~ diilu kMln va dong diOn; e) Phti dieu hila dOng dien. Iuu gill. Dieu nay dUR tren gia thiPt nhu "au: - 0 moi thai di~m ta co ham di{>u khi!';n lUll 1:\ hl:,:l anh ('tia di~n ap mong muon. Dieu khien co t.hi>' Utiac xac djnh thpo di{'n :ip pha mong l11U(l[l vl(t) ii Iii a, b ho~e cl - Cci the' lay mau va htu giu mOt c;lch Il'C Ihdi, TIn hi!'lI n:\\' til((J(' hi{;n uoi thanh gia trj so eua h'iy mati ujiU, tlie Et: u1(tnl .... oi t." ~ nT Co the th\le hi{>n tinh tcl1i.n mf;lt (,lleh tltc fh('li lJ(,' kh()ng ell thili gian Il"~ do t.inh t.oan. Hinh 9.22 eho nguyt'>n ly' Cl'la hai phttllng ~i.n ";HU ll:l:\": ('1\(' xung dich ph:\.i va elk xung djch t.rili. '1.5.2.1 Oie xun}; die-II phlii Trang phudng an dllu tien e,lc tin hieu moi hlnh rang eua doc xuang va cae xung djch phi'lL Bie'u thl~C elm w la: iH- 35) Khoang thai giantjn a dci bipn logic dieu khie'n C j l:'l dUdng 1 va eho bang ty so chu k)' lay mAu: va t.hai diem ehuyen m~ch t\n bang: fin - tn = T - TOIl a phudng an djch phai b phudng an djch tnii Hinh 9.22 PWM so d~u Ta nhQ.n thay rang :;1,1 l~ch phai gay tr€i trong \lng dl,lng dieu khie'n va ta mong mu6n tien hanh phudng an s:au . 9.5.2.2 Cae xung dieh tnij (9- 36) (9- 37) Trang phl1dng an nay ta nh~n thay xung d1ch sang ben trai. Trong trtlang 265 hap nay tin hi$u moi la: (9- 38) Thai gian Tm cho thea cang t.huc (9.3G) va thai diP-TIl chuyen mach la; Trang thllc t.€ song mang hlnh rang cua w(t.) eo t.he' dltoc t.huc hi~n bang dem lui (phuang an 1) ho$.c ue"m tien Iphuang an 2\ vni so sanh wl,t) v6"i gia t.rj uilt.n) de' xac dinh thai diem chuyen Ilu:l.(~h khi wlt.'m) u(tnJ· Hinh 9.23 If!. VI du di~u khie'n nay v6"i eung gia t.rj s6 t.rong de nwc tren. So sanh cac ltuang cong 9.20d va 9.23c cho phep kie'm t.ra thay soV lay mau t{lO nen Ii?ch pha them va ta co t.he' dtta vao 1116 hlnh b:1ng thai gian tn'i T[ = TIP (xem hinh 9.24a va bl. Tren hlnh 9.23<1 to. thay bipn u(l cao cua song cd ban a 50Hz nhttng (9- 39) ~ wf., f., _ i' _~~C;; W" hJ \ \~~" -~~ \:' L ,J I I "J ,\' \ ~ " -...,... r-, '-, -;-' ., " T""t C t t' , , " .' ., " • i: ' ,_Tn..... '. , " " ' ;U d OJJJ'lJDtt- -t"t't t n, • n, ntl --!- r--:- 'J , , ',' :: :: ,: :, t t ct, " '-1'f,,<--" " " .' " ;UUj b hbhhi_ tn: 't~ :tMI t , ' """"'t-T +- b) cung co cae dieu hoa bai cua song Hinh 11,22 PWM s6 d'eu ca bim va cae djpu hoa quanh tall a) Phuoog ;!,n dlch ph;!,i: b) PhUong an dich trili, s6 1250Hz va 2500Hz utiQ"c t~o nen chuye'n m~ch 1250Hz nhll v1 d\l hinh 9,20e nhting v6"i muc do t.r;hn trong han da lay mau ph6i h[Jp v6"i dieu bier dich tnii .\1,5.2,3 CiJu Ink phan ctinK vu phan tn~m cho PWM Thong thuong chttang trinh trong thai gian thve de' thvc hi~n di~u khie'n kh6ng t;:to ra mot each ro rang song Illang wet) va tin hieu t eua dieu khien u( t) de phfit hi9n s1,l' giao nhau nhu cae hinh 9.22a va b. Th1,lC v~y, M dan gian a thai diem bly mat. (t n ) dlj kien sV, cat nhau bang each tinh thoi gian 1.' - t do bo de·m va b6 c!p'm lui thue hien de' denl lui Wi thM die'm qua kh6ng "n· . .. ta thai die'm chuyen maeh. 2GG , 1),01)4 I l),oa8 I a,ar2 0.016 I 0,02 a,oaz 1),00. 0,0/ 0,014 0,018 "/-m,: J ::1 " " , -0,2 ." -0,5 ""1' . , ~-~,-_-''------ I I o 0,005 o.oJ 0,015 1),02 0,025 OJ!3 0.035 0.01; I dl€/I khiin z 50 Hz Tho-i (}Ian r S) "'''~30o Thili gian (s) c) 0) f chuyen mqch ~ ! 250 Hz b) I Hi,,' o i khve~h r!(p' (dB) "1 '''1 -3°1 1 -40 J I o 500 HlOO 1500 2000 2500 3000 Tan sii'fH:l) d) Hlnh 9,23 Diiu bi~n s5 d~u, a) Tin hieu dieu khi~n lAy mau va s6ng mang: b) l;n hieu logic di'eu khi~n phAn hi chuybn mach: c) Dang dOng <lien till, di'W bien rdi rac d1lu: d) phd' di1lu hoa dbng dien, Trong nw,ch ba pha dieu khien bang bo vi x..J ly co the' minh h9a bang hl.nh 9.24c va d, Vi dl,L nay lien quan den dieu khien d<}ng Cd chap hanh dbng bl) dl1dC c.ung cap ba.ng bl) nghich ll1u tranzit.o djPtl chiIlh dong di~n va t6c do, Trang vi d\l nay t.hai gian tinh toan can thie't d6i voi cac thu~t. toan khac nhau Ian hern ba l~n chu ky bam cua b<} nghich hiu ba pha. Chu ky lay mllu dl19C ch9I1 bang 56 lin chu ky bAm (trong vi dl,L nay N = 4) va. ty 56 chu ky Ii khoIlg d6i trong chu ky lay nu]:u, De tranh nhieu CIi,c thdi diem lay m:iu dl1dC I~ch (VI1Qt t.rl1dc) 50 vdj thai dje'm chuye'n mach. Hai chu ky luon dl19C 267 26H _ J _ I a;l j}L J -"C h· -:. u T ~ Y L--=--~ '----0------ ,_ &!~Ij knii'~ "', rac, iJu 9'-'; , -' -';I J T"o SOIlI} mom} ,- l .. :, -.J nin9 cvt1 '0 --- ", vc --- '"' L. ____ ~"'€IJ Bien dO: dong I fiX: il,t1, vi Irf" khJe~ 0) Goexp-~p 6oo,p "p ... - GatC)(p. T( p I '0 " " Thifi gion vaG , -I! dliidnlJ frl'nh rII}G! : I Chu'rJ'ng trinh IIlJa! !,' 'I --;=:::- ,CCC=;- _ CfnfrJ'ng trinh q9r8~1~1 ~,~ J @] {PPlt 'I Cac fy so' chu ky mit,: i t dlJ'f/C linh In/dc Co C'b D 0 C'h n n 0 40D!S d) Minh I.U PWM so d~u. a) Sa aeo nguyAn I)"; b) Sa aeo chuc nang: c) vi ao,l cau troc phAn cling: d) Bie:u d"o thdi gian dong b6 hda Ta co the' lift k(, Clic uhii'lll VII ,.;au "{n" - 0 m6i thai dj(~11l la.y miiu Il1i('n l](ii Itl'lng III "i) I ,','!:I ,"lI" I'h!;p do dai [ltang dieu chinh. Sau hai gifty t.iPIl himh' • d,lt. ba li''';o chu k.\' (hint" 1mb (f ,ill! k.\ tn/III' IWill ,'" Ill,-,t tI]('li ,'...'ian tre doi V(li IllQt ("htl ky L"ty lll;tlJ trnng di('l1 ,·hl,.h: • linh lo:'m ('a(' 1,\' ,.;() {"hl! ky nwi IIp :IJ) dllnl~ ell., I illl 1,\ ti('p th!,i' Trang vi d\1 nily h!:l ('hon P\\'~I rtli r,H' 1 (,I lll1i"11 (h/[I, :-:ial tlm'h hang ,..;[1 di.n thie', ;;;Ii dung cac tht1l~t (011n nhanh dn lii'll hilllh ('hl! I:;~' h:.,. lll;"tu khlJng' do b¢ nghich IVll rip ua( m;i do co ('{iu di('l1 hl1l>'n Chu ky Iti.\" 1l1{1ll T = NT" v0i N > 1. Trong m6 h,nh 11'1'11 hmh 9_~..j la ('(1 '1', == T:.! 9.5.3 Oieu bien s6 d6i xlrng Dieu bi6n nily lil m61 phlwng an ('lill ,'11<" di('u bi(;n t.r{'1l tl'ong' do t<1 I,m 1m hi~u doi xting thea Ihai dip'm T'2 d(; gi;i.m thi(;u C:l, ui{'u hoa, do d(i de xung a giiJu. Hinh 9_Z~-J t.rinh hil}' nguyi'll 1.\" nilY ;"~Hing mang e6 hai hieu thde: , , 411 ~ 1,,' a »lwn tang w(tl "" wrnl-- -- T" 4( I 1\ T T +- 2 < , Thai gian In cho t.hE'O c6ng lhi1e 19 :Hjl vii (':}C Ihili dip'm chuye'n lllach la. T I", t'ln - tc =-- - (9-401 2 2 T , 'c t" - tc ~- +-- (9-41) m 2 2 Vi~c thvc hien do hai b¢ dE'm - dem lui dam baa, h6 dim t.i~m dem tv 0 den T!2 - ,,,/2 bQ t.hu hai dem d{;n T!2 +,,,/2 ph6i hOp v6i 1D9t c6ng OR lo~j trv. Hlnh 9.25 la cae tin hieu lipn quan Mn djPll khi~'n ll11Y veTi citng cac gia tri s6 nhv trVoc. Xet hlnh ve mly ta thay vi~'c rai r~c hoa dan den s1,1 I~ch pha dong dien so voi dieu. khie'n logic a hinh 9,21 nhlt di nh~n xet a myc tn1ac. Tren hlnh 9.25e ta co t.he thay Sl.t dung giiia cua r.{lC xung IOl;ii b6 dugc eRe di{'u hoa bQi cua song ('(1 hiin VA cac dipu hoa bac cao do chuyen In!.l-ch so 269 o ',8 " , , ~~~"-+-"--T~--,,"~~~ -" - t' o t' o aJ t II ul"",; " " 04 Thit; 9ion (S) bJ II II III 111111 ': J:-~~[:;=:: II~ lu~ o I (J,V'()4 I),Ui08 0,;,2 O.~J6 0;;- " a -0.2 -0,4 -0,6 -0,8, 1),(j02 0.006 a,D/ o,u!4 0.0/8 ·d I---r- -, '-:-C:-=C"lC' c:-,:-' CO:':::-:C• o 0.005 0,01 0.015 0.02 {),025 0.03 0,035 O,O~ fclrllYe'r; m,!cn: 1250 Hz Tbi7igiun 15) OJ d) Thdl gion (5) He so· a khuech dar (dB) '5 ·w ." .<0 ·H ''0 ·35 ." ." ." " 500 1000 1500 ZfJOO 2500 3000 'I T5;' sa' (Hz) Hi"h lUll PWM so doi )(Jng trung lam (Iy s6 cAe Ian so': 25) a) Nguy1!n 1'1': b} Cae tin hi~ Irong mOt chu ky tin hieu di~u khi@:n; c) Tin hi~ logic diAu khiAn; d) Tin hieu di'eu khien va doog dien; e) PhO dpng di~. 270 v6"i truong hqp dieu bie"n dieh trai. Vi~c gi,hn cac (m·u hoa b~c cao cho thAy l1U vi~t cUa dieu bi~n nay. Rhi s6 chu ky chuyen Ill~ch wang d6i Ian so voi chu ky dieu khien sl,t meo d::;lng song do hOQ.t d(>ng cua PWM van nha. Cae so li~u thuong W4P d6i voi ti so hai chu ky (toi thUlu Iii. 20 ho~c 30) l~ng vOi tru'ang hqp duqe xu Ii tren hlnh 9.25, a day ty so lit 25. Ne"u ty so thap han cac dieu bOa lk1c cao tang rat Dl<:J.nh, nhu truong hqp vi du hlnh 9.26 khi ty s6 duqe chia cho 2 (nghla Iii. 12,5) sa v6i truang hqp tren Ta s~ thay trong truong hqp nay cac dieu hoa 0 100Hz va co d~ng 625h + 50p, trong do p la s6 nguyen chan ho~c 10. Truong hgp nay ung vai cac bi? nghjch luu cang suat IOn trong do tan so chuyen l1wch eua cac linh kien b~ h<:J.n che"lll<)t cach tu nhien. 9.5.4 Di~u bil!n 56 khOng d6i x(mg Rhi ta muon cd chu ky lay mau (de dnh toan) nM han chu ky chuyen lllach nen dung dieu bien khOng d6i xling. Nhu w~y bang cach giu eung lll9t Hm s6 chuyen lUQ.ch cac phaD tlf ta tang gap doi tan so Jay mAu va c.iii thi~n dap ung bang cach giam do meo. De tien Mnh ta thvc hien lay mAu va luu gilt trong un ca nua chu ky PWM (ho1)C chia chu ky lay mflu cho hai T := T,,I2) va tinh toan m9t each d9C I*p thtli diem chuyen qua 1 vii. thoi die'm quay ve D. Nhlt v*y se t.hue hi~n djch phai va djch trai. Hl.nh 9.27 giai thich nguyen If nay. - () subn tang, chu ky (tn' tn + I) fa co: (9- 42) () Bubn giam, chu ky (tn + l' tn + 2) t.a co: t - t I [1-2 n+J m T t w(t) = w (9- 43) Cae theJi diem ehuye'n l1Wch kiem tra di"eu ki(>n: t' - to 1 u,(t' n) 0 [1 ~~ +--~- T 2 w'o (9-44>' t' n + I to • I 1 ul(t' n + ,) =-- [1 - T 2 wm (9-45) Cac cong thuc nay dung de hip trlnh cae thai diem chuyen ml;lch. Cae khoang thai gian dAn cr vi tri 1 cho cae ty s6 chu ky 271 To t' . t, u,l t n) 0 [ 1 19·46) U o = T T 2 Tn + , t 'n , tn + (t 11+ I = = T T 0,:= ,~ ,I ~~ I i1 II, I, Q,b_ ' " '--:i I ',' , I :1.+_! ,-- I,' , ''i -0,4 _ .,., 1 -0.8 --' _ I J o -or G,004 , a,GoB 0002 a.oaf, I:! \11 I r- 'I' ,'-\' J I l--L~ o.or O,or.. a,alB + , fd,J" biih = 625 liz frill;; kl1iin.5IJNlniii gllJn (5) oj cJ 1~1 ":'C, ~,-;In n n ~ "j! "'1 0,4; I! ':t ~II I ,~"I ' , ' a I (),~04 a,GOB I 0012 0.016 i 0,02 L; U J L.JLLJUL 0,002 11000 0,01 a,I)!1, a018 W" = 1 2 [1 + I ~ r-, 0,8_ (. !I. 0,6 ~ :1 I 0.4 ~O '.2 ~r " -(},2- -0,4 - -0.6 _ -G,B _ uj(t' n + , ' 1 (9- 47) Wm t r --,---- o a,OI (J,a} (}.O3 OJ)4 (},()~ 0.06 8,07 0,08 f ,Mil I"en :62SHz ~= -30· Thill glon (S) Cj 1 " ,5' () khllichdoi (dB) ., , -10J _J5 J 500 1000 1500 J rJi€1J hJl~h " 625Hz Thifl gian (5) ran so' (Hz) b) HI"h 8.21 PWM sO trung Him dOi xllng {tv s6 cae tlin s6: 12,5) a) Cae tin hie-... trong mOt chu ky CUilI tin hi~ di&u khiii'n: b) .Tin hi~ logic dieu khien, c) Tin hi~u di&u khi~n va dOng di~n: d) PhO dOJlg di@m, 272 Cac duang cong tren hlnh 9.27 cho thtiy dieu bien kh6ng doi xung voj t~n 56 chuyen mlJ.ch thtip (ty sO bang 12,5 trEm hl.nh 9.26) nhung voj chu ky Jay mAu di{l,u khie"n gAp dOi (25 voi hlnh 9.25) cha ket qua tot nhtit: cac dieu hoa CJ 100Hz bien mat va cac dif!u hba b~r cao lit kieu 625h + 2p x 50: cac dieu hOa 625h + 50p (p Ie) cung bien mat. 9.5.5 Thl!c hi," di~u bill" ba pha. Cili thi,n cae tinh nang 9.5.5.1 Cae ding thlic chunN Trang cac chuang tnJoc ta moi de cl[l.p cac thul;lt toaIJ doi voi nlQt pha. 0 day ta dllB ra nu)t s6 cong thu:c cho phep bieu di~n cac di(>n lip pha cua m~ch ba pha. Ta xet giii tri trung blnh cua clic di$n lip trang lllQt chu ky lay mliu thea tin hi~u di~u khilin (u \) (9-48) Gia thiet bii'it di~n ap ba pha mong muon «v'>\ . Ic" ta co thE! suy ra diEm lip hai pha mong mu6n «v2»uC>i = ITJ2«vJ »dL's Ta luu y rilng trong da so truong h9P gia tri l1\ong muon Clm cac dien ap hai pha dAu ti(!n da. bie:t, ta co th~ suy ra tin hi~u dieu khie'n JUoi dl;IDg hai pha: 2wm [ ~-- T .. ,«v\»,j.-s E -" - " 19-49) tiep thea Ia (uJ) trong dci u" la tuy y: _ 2wrn T 'T - T 3J u" +E ~2 32«vJ»dt·s (9- 50) Ta co the dnh toan cac chi s6 chu ky, vi d~ d6i voi dii'>u bien doi xung trung tam: 1 ~ [1 2 (9-51) 9.5.5.2 Lou; h6 meo dr,mX .wIng hiinx each ehuyfn sanN dieu khien huo hila dll"u "uo dieu hiJa hac ha B('l nghjch luu the hi~n baa hoa neu khoAng thai gian cua nguon mong muon Ill. am (1 < T h)' 0 muc di$n ap cao, di~u khien co d:;1ng-. 273 "I. rWm ----.---- " t~: :t~'l t , " w :tn+l:~:t~ tT I I " I -Wm -------r---<-~----·---- --------Wm I I: i ,C'!--_-i" ' , u/w, i , O.S " 0.4 , .. , _(1.2 -0.4 _D.1i -0.8 ·1 t o /1,0/& 0,02 o,oot 0.0014 0,Oi8 f t!i~u khiin .50 Hz Thili glon (5) f t!i~ biif, .. 615 Hz 'J b, ~{ l 1.111'1",/ u!Wm 1 '.S / \ '.S '.' '.4 '.2 0 a I Q,OOh \ QJJIIII \ (}m] I (J,OIS I O.IIZ 0,002 /1,006 0,01 rum 0.1116 frlieu bfe'n .625 Hz Tlldi 9ian (s) Ty 5O'cac Ian sfj'.25 'l Hi sri' , khui'ch rI[1i (de) ·s ·w ." ·zo ." .JO .,. ." ." ·M 0 ,,, ',' '.4 ',2 , -0.2 { ·04 \ -0.' -0.8 . , o 0.01 0.02 0,03 0.114 0,05 0,0' D.07 0.08 6d<: '?rh pM ~~ 30· Thlti tjian (S) d) 1000 1500 Tan s5(WI} Hinh 8.21 PWM s6 knOng dOi llUng (ty s6 cae tlln sci chuyen milch: '12,5) a) Nguy&n !y; b) CAe tin hi$l,l trong mOt chu 1<:'1' tin hieu diAu khiin; 0) Tin hieu logic cIIAu khiln; d) Tin hi$u diAu khiA"n va dM9 dien: e'j phS dbng eli.., 17+ 'ON 1,0 T -I.o+----'--.,-_, __ ,_,_y 024'810 tn : nT .. , ,., , -0.5 ',. " ,s , -0,5 " tn~ nT 6 8 " Z -!,O +--_.-_-, __ ~_-,-_~_ , , ttl : nT 0) " '" " " " " , , " " " C- , .> , , Z • <;, " r- , .. , , , , 6 8 " n: So'chu ky (tn'" nT) ttl :nT h) I,LI/l111. ,IIPIII,IIII " " 50 C) Day rli~u hoO p Hinh 8.211 LOlli be mMl d!lflg song bAng cach chuyen sang diiu khiAn bao Ma. a) O~ ap giiia phs va trung tfnh ddi vcii 'PWM ba pha c6 bao hOa: b) Cae tfn hi~u logiC di~ khi~n. oj Phal1 tfch phO dj~n ap cUa h"h a, 275 (9.52) Slnll ra cae dieu hoa dong di$n b!}c thap nhu: cae k& qua lten hlnh 9.28a va 11 va qua phD dong dj~n tren hlnh 9.28c van con a tr~ng thai 1 ho~c 0 trong nhiE!U chu ky voi cae diEm hoa thap cd gia tri lon, d~ hi(!t dieu hoa b~c 7, 9, 11 Ta cci the' eM thi~n k€t qua nay bang c:ich dua them thanh phan thu t1,l kh6ng va sti dl,lng di"{m khie'n t6i till d~ng: 1 u = Um[cos wt +- cos (3wt)] vai Urn > wm 6 (9.53) Hinh 9 29 ia vi d\l dieu khie'n s6 cho mQt pha Hinh 9.30 neu nguyen Iy dieu khien s6 ba pha, ta nhftn thay Tang d..1 giam diEm ap co bien d(l ltd _I thanh qua ian ta co the them vao m{:lt so tin hi~u dieu hoa h{:li ha. Dietl nay dung voj chI§' d(! XRC l~p hinh sin (ho!.ic di"eu bi~n htnh sin). \ I Hlnh 11.21 rin hieu dieu kt1i~n PWM khOng d6i ~Ung co them dikl hoa b~c ba. wi viing61 viing' I vung2 I vung3 I VfJng~ I vungS I . Pha _ Pha ><PhC __ Phc frin nhat Phc __._Phb PIIO">< Pha trung blnh Phb"""--Phc-Phc Ph~ _PliO I Phb nho nl101 I I I I Tuy v~y d ch€ d(! qua d(> kh6ng ton t<:li khai ni~m diEm hoa b*c ba va ta dm phai sll d\lng Dlqt thu~t toaD thlch h<;lp. vi dl,l ta co the' chQn ll1¢t giai phap thich I1ng vai Hlnh 11.30 D",ng cae tfn hieu di'eu khi~n ki&u th&rn di~ hoa b€ie 'bEl. ba pha, diEm khien thdi gian t.h\lc va trong ch~ d.., qua dO. Trong cac ty so chu ky (1:, =r;lT h ta dl1a vao 1l19t thanh phan thu: t\l khOng ky hi~u Iii u" 1 (1:i =- (1 + u,/wm + ui/Wm), = 1, 2, 3 (9-54) 2 276 vai U J Ia tin hi(m dam khien (hlnh anh cua dien • ,\,1m ~---_, ,/ " lip mQng lllu~n), u" = ',F ", /" " " " /~ u/2 vai U j iii mQt trang Vm/2 '/Uj'Uc UpUb ", ba tin hi8U di'{ju khi~n u l - ."-~~-/---'-- > uJ > uk (hinh 931) ! /' -"',- ~/ '_~ /' '___ ' Hinh 9 32a va. b cha thay -Vm 1'----/ -,-----/ ----/ '-----' U/c"'Ub U -u UQ thu!)t toan nay iiun gUllll k.- C mea dang song khi HI"h 11.31 XAe dinh Cae tin hi~u i, > Ur > Uk chuyen sang baa hoa (hlnh 9,32cl Tuy nhien ta cung nh~n thi'iy ding neu ta muon giam cac dieu hoa b~c thip ~ dlin den tang l1l¢t so dieu bOa b~c caD, trong truCJng hgp nay Ill. M.c 17 vA 19. 9.6 DleV BIt:N vECTO 9.6 J. Dal cuong Sa dl,lng cong ngM so cha phep tht,tc hi$n cac chien luge dieu bien ba pha d~c bi~t khOng da.n dt'!'n ky thu~U tuong t1!. Di"eu bien vecto con g9i is khOng gian vecto xii Iy tr1!c tiep trong Dl~t pMng hai pha cua bien d6i Concordia. Gia thi@'t d1!a tren co sa di~u khi~n s6 vA thu~t toan dieu chinh da xac dinh cac thanh phan mong muon v" va Uti' Trang chuang 8 ta dB. tMy rang t~i lll¢t thbi diem cho truac bl) nghich hiu chi co the' ph:it 8 dien :ip v, (i = 0, ... , 7) trong m~t phltng cua bien dai Concordia (v"' v/1) hai di$n ap bang kMng con 6 dien :ip co mOdun ill. Ev2/3 va argulllen ]f/3(i - O. Hai vecta lien tiep ky hien iii (u l ) va (u l +- J) x:ic dinh vung i (hlnh 9.33) vai i thul)c khoang [1, VI]. Ta co tM' viet dien ap (V\ duai d{lng t9a dl) c1!C: "" !i (V), = ( )i = E{ -;-;-1 . vf ' = E4 p[;r/30 - 3 , ]f/3cos ;r/3sin(i 1 1) J 0, (j - 1)' . 11 \ (9.55) BQ nghjch Juu khOng the' cung cap cac di~n ap (V)I 1l19t cach chfnh xac va Wc thai Ta chi co the thuc hi$n 1ll9t dien lip (v2) nAo do thea gia tri trung binh trong mot chu ky bam T. De' chung minh dieu OIly ta nen vj€t di$n fip (v~) muon thl!C hi~n duai d~ng t9a de) c1!r:: vai ll10dun V va goc ct,tc ~ (hlnh 277 9.33), rna tr~n quay P(~). (9- 56) Ta dimh dllu rnQt vu.ng niio do (I d~n VI) vecta thuOc villlg nay, nghia la din xac djnh rp¢t so nguylln i thuQc vilng {l, 6] va g6c ~, thuQc [0, 6Ot'] sao chu ~ = ](/30 - 1) + t. . ~ , (9- 57) (v1 ) = VP[(rr/3i - 1) + ~I) I ~ I (9- 58) Thu~t toan x:ic d~nh i dugc rnO ta tr~n hinh 9.34. VI ta chi co gia tri trung blnh (vz) ta phai ap d\lng cac gia trj co the thl,tc hi(!n dugc (v)j trong cac khoang thbi gian bam xung T. De giarn thieu sl,t gQn song di~n lip va ba.ng tho tl,t cac dieu hoa ta ch!l:p nh*n rAng phAi th\1c hi~n (v2) bang hai di~n ap giln nhllt. Vi the ta d~.t: (vz) = ~/V)j + ~i + I(V)j + I (9-59) d day ~I va ~i + 1 Ia cac khoang thbi gian theo gia tri hwng.d6i ma ta cl$t di~n ap (V)I va (V)j + I. ~i(V\ va ~i + I(V)] + I Iii cac hinh chieu cua (v2) l~n cac vecta Ian c$n. Ta co the xac djnh ~, va ~i + I bang phudng philp hlnh h9C hO$c giAi dch. De' ti~n hanh ta khai trien cac phudng trlnh (9- 58) va (9- 59) VP[n!3(j - 1) + 'ill ~ I (9- 60) ~ OiE4 P[nI3(i - I)] I ~I + °i • lE~ P[in!3][ I ~ I Phuong trlnh rna tr~n mlY dUQ"c don gian mOt cach d~ dang, ta nh~n dugc hai phuang trlnh vo huang: 278 ~ v = cos ~i EV2!3 V =-""'" 8in~. Ev'2!3 1 Cac phudng trl.nh nay co nghi(!m ia; "ON 1 '.' 0.5, 0.' -0.5 _ 1,0 I , "0' " 0.5 '.' -0.5 _1.0 , Co 1.0 0.5 2 4 6 8 " til" nT 0.0 0 2 4 G 8 10 Co in""- fI r '.0 0.5 , , , . 0 2 4 6 8 " , 2 4 6 8 " t" = nT Co til = nT W '5 0 2 4 6 8 10 0 2 4 , 8 " tn ~ nT n Cue Ih~n rip f/hI! Iren hinh 9.28 sO'ciluky (tl/=nT) nhri'ng sU- tiling MII?I loun (!}.54) bJ OJ ',f IOO~ "j. O~~~~~~llll~UU~ __ _ o 10 2030 4050p 8~ cac cIi-e1i l!oil lip bien up cvrl ,/iill h(1U b¢c P chi(f eM bien dp luk' oj Hintl 8.32 Ch~ do qua do tn",nT a) Di~n ap gilia pha llli trung tinh: b) Cae lin hi~ logic di'{ju khl~n: c) Phdn t{eh phO cua cae di~n ap hhh a. 279 _v ~I = .J2----sin(n/3 - ~j) E _ V ';2 - Bin(~'I) E (9-61) (9- 62) Cae thOng 86 01 va 01 +1 cho cae khoang thai gian Ii va 1[ + I' trong cae khoang do ta dfij.t di~n lip (V)j va (V)I + I T <:.'J. = -'• , T T j + I va <:.'J. I ~-- , • T (9- 63) Cu6i cimg ta b6 xung vao chu k.Y T bling each lip d1,lng vectd kMng (V)" hoac (V)7 trong cae khoang T" va T7 (9.64) 00 + 07 = 1 (\ - OJ + I (9-65) Cae di~n lip nhtt tren blnh 9.28 nhttng si't d~lng thw)t toaD (9-54) Cae khoAng thai gian 0" va 07 phai dl1c1ng ho~c hang kh6ng, rung thuqc m!)t phang (va' vii) Ie da giac tr€m hlnh 9.33. Neu ta l!y til da giac tOng eua cae mMun OJ 1 Vi I + (\ + I I v, + I I Ibn hon ban kinh Yang trim, do ~y 0, + OJ + I > I, di~u khi~n nily 13. khOng the th\ic hi~n dligc. "p 1 EV2{I 9.6.2 Chqn cae chuy'n m,ch 010 .-'~--- ,---,~~ 110 Vi d\l di"flu bil!n khOng d6i xang kif!' u mf;lt ch i~u . Vililc b6 t1'1 cae khoAng tu'C1ng ung, d~c bi~t <\, va 67 co the t~o nen nhi~u sl,l h,ta chon. Ta nhAn m!;lnh chi€"n h1Q"C thttang dung de toi thie'u hoa 86 i~n chu~n Dl{lch. Mot cach kinh dien la chon chien ittQ"c dieu bi/!n kh6ng doi xung. Ta lay vi d1,l dit')n ap nam trong vung III (hl.nh 9.35). Ta thay d6i thu tv ki~u dieu , ~/ (11')3 n / 5' : , ' , , , , Hlnh 11.33 Cae di~ ap phat trang m~t ph~ng (v". vtil vA ~ae dirtl cAe vU1g. bien dtch phAi vo-vJ -v4-v7 va m(:lt kieu dtch trai YrV4-V,-YO. Chu ky Jay mAu IS. T. Chu kY may tinh va chu ky chuyen lU{lch gap d6i Th = 2T. Trong thvc te ta thttbng chQn cac thai gian bAng nhau de' lip d1,lng cac 280 i.2ho{kJ Hlnh 11034 Thu,at loan )laC dinh VlI'1Q vecto kh6ng ". To = T7 = (T~ T1, - T~)/2 (9- 66) Thea chien luac nay t.a gia thiet. t.hbi gian tinh toan rAt ngan, nghia lit nha hem khoang thbi gian dau ti~n dfit vect.a kh6ng (Q,\T hO;;lC 07T). Do vl).y ta co the chQn khoang thai gian dau tien dl[lt vecta kh6ng {v" ho~c v7) sao cho chung Ion hOn thai gian dnh toano Do v~y trong th1jC M chien IUQc dfeu bien nay rat thich hQP khi chu ky ehuyen ml.lch T h tuang d6i dai va thai gian dnh toan kh6ng di[lt ra van de gi. c, lie vJ II, 1'7 1'7 V. Vj Vo 1(10(1) (t>!O) (011)(111)1111) (011) 1010) (000) , " , , , , , , I , " ' C. ~' _-+' _l-' -+-+' _" __ ' I : : : -: I i I T !J ~ 03 T r,,'" 04T ro~r7~iT-r:;(;)/2 Dieu khien be) bien d6i lit van de co ban eua dieu khieon may di~n Hlnh 11.:110 vi dl) dieu b;An vectd khCing d6i x~rog. 281 Cac chi{ln b.1~C diflU khh?'n bQ nghkh luu ap (m\lc 9.4) dong vai tro quan tr9ng trong dieu khien thea quy lu~t V/f == const cua dQng cd kh6ng dong bQ. DH~u khien PWM co song mang hm}c dieu khien vectd dong vai tro quan tI"Qng trong dieu khien dOng Cd kh6ng dong bQ ciing nhu dOng cd dong bQ. Khi d¢ng . cd dUQc cung cap tit: nguon dong, st! bien doi b¢ nghich luu nguon dong ba pha (m\lc 9.3) la giai do~n chu yeu. 9.7 THl,fC HIJ1;N HJ1; TH6NG m£u KHI~N DONG CO XOAY CHI];:U BA PHA TREN CO SO sil DT,JNG BO xii LY TiN HIJ1;u 86 KI~U TMS 320C20/C25 [2) Ml,lc nay gUli thi~u M th6ng dieu khh~~n 86 truyen d¢ng di(in xoay chieu ba pha th~c teo 9.7.1 Sa 11IQ'c ve phlin Clrng Phan cung gom hai khau chinh: khAu di~n tu dietl khi~n va dieu chinh chua cac b¢ vi xu ly va phan giao di(in voi c6ng ngh~ (gam co cac phhn til do h.tCmg, bO bien dOi) nhu hinh 9.35. Thong thuong cac phsn tit giao di~n cong ngh(i dUQ"c dii xen van kh6ng gian nha cua bQ vi xU- I)' duai d~ng d~a chi xac dtnh va do do chung du~c bl? vi xU: ly truy nhap dQc/ghi nhu 1119i 0 nha thong thuong. B¢ nha du li~u }a 282 pc (co cal #1 phon m~m phdf Irlen) Hl"h 11.35 CAu trUe eel b:\n eua phlln e,Jng trong qua tr"i1h pMt t[ilin ph"an m~m. lo~i d9C va ghi dl1Q'c (RAM) va dl1Q'c ky hi~u la DRAM. Khi thi~t b~ chua hOllD thi(!n va dang trong giai do~n phat tril~n thl1C1ng dung RAM de hiu giii chuang trinh, gQi Ia PRAM. Vi~c dung PRAM cho phap thay doi chuong trinh m9t each d~ dAng. ~ sau khi phhn m~m da. dn dinh, thiet bi da dUQ'c holm thi(!n ta co th~ thay PRAM bang EPROM la ROM co th@' l~p trinh duQ'c. Vi~c n~p mit chl10ng trlnh cho EPROM dUQc th1,1c hi~n nha may n~p. Thl,lc t€ It co lo!;'.i may n~p dt)c l$p, may n~p chu yeu g6m ba kh6i: 1 Ht)p chan de co nhi~u chAn de cO the' cam nhieu lo~i EPROM khac nhau, dong thai chlla ngutm n).lOi 2 BAng m~ch gbep h¢p chAn d~ vlli may tinh dieu khien PC 3 Phan mf!Dl cai dl)t trong PC co nhi~m V\l nh:)n d::mg EPROM, ki~m tra EPROM truae va sau khi n~p, dieu chinh qua trlnh n~p. Khi thiet k€ phiin cung pMi t~o cho M eo kha nang ghpp n6i vai PC qua cae cong vI. d\l RS232, RS485 hO$.e TTY. Nhb khau ghep noi do phli.n 1l1em vi.~t tr~n PC cO th~ dUQe ehuyli'n xu6ng PRAM m(>t each thu~n ti(ln. Ngoai ra PC phAi dl1Q'c cili d$.t san Chl1dng trinh phat tri€:n phan mf>lll eho bo vi xli If gbrn cae thanh pha.q Bau: 1 C-compiler 2 Assembler 3 Linker 4 Locator trinh bi~n dich tit ng{m ngit C sang hdp ngit. trtnh thong djch tit help n@ ,;ang nUl llHlY trinh ghep noi lien k€t Cal: chuong t rinh rai ~e th8nh chudng trinh dAy d\i dUdi d~ng ma may. trinh dieu khi~n dinh vi ('lie' ('\1m mft chuang trinh a d~a chi mong muon. Trong b6n thilnh pha.n trt'>n ba thilnh philn ,.;au bat buqc phai co, rieng hai thanh phan sau co the kh{mg t("lll tai dttoi dQ.ng hai chtwng trinh doc IQ.p, nUlla I\\¢t Chl1dng trlnh chia thanh hai nhjp voi hni ch\~c nang tuang ung_ Hinh 9.36 lit Call trU(' etla h(o vi xli Ij kep trong do h{) xu If Hn hieu so TMS 320C25 (Digit.al Signal Pl'oc(':,;,;;or ('lhl Tf'xa~ In;;trument, vi(.!. tat la DSP) va be) vi dieu khi~n SAB CIG7 111iero('ontrolll'I' elm Siemens, vi€t tat lit ,lie) Hai h9 nay ph6i hQp ho:-:tt. dqng- thpo kii;u 1/(' lit ('hu., DSP iii.. t.o va d\(Qc phAn c6ng nhi~m vu nhu ,;au: t I [1ST' thtlt· hj('ll 101m b6 vii'f· I!nh lOan trong thi:1i gian th\ie dung eho djpu khii:n d(mg- ("(j. Vi ('Ii I(w tI() 11nh t.o;'m ('ao DS!' ('0 vai t.rb nhu b9 dong XII 1.',-' t rong- PC va chill ,;If chi ph(li ella lie. 283 May phd! fac ICE Resolver (kern me phung Ice) Vi xu' Iy lin hi~1J TMS 320C25 Khien bi-en tOn, do Vwe va dang is", iSY Hinh 1,30 CAu true ehi ti@t eua h~ vi Xtl Iy kep. 2 flC th\1c hi~n cac nhi~m V\l it doi hoi t6c d() cao nhu dieu khie'n DSP, dieu khif!'n ghep nEii, thea ddi baa v~ phan cong su{lt cua bitfn tin va d¢ng cd, dieu chinh vectd khimg gian de dong, ciit cac van bien tan (do DSP tinh) dUQ'e lie thu'c hi~n bang M thong thanh ghi PWM co san. Hinh 9.36 cho thAy vi$c ghep n6i voi the gioi ben ngoai gam: 1 Khau ghep voi bien tan gatn co dieu khien bien tan qua cae thanh ghi PWM cua ,IIC do dii;'n ip UM(. cua m~ch tnQt chieu trung gian, do hai dong di$n pha stato iSti' i'iV th\1c hi~n kh6ng ch€ bao VI} bitln tan. 2 Khau do toe dQ quay. Bang lllQt l1l~ch ghep phu ngu'i:1i !iii: dl,mg eo the' I,(a chQn tn¢t trong ba cach do: dung Iluiy phat t6c, dung ICE hoac Resolver. a Khau tiep xuc veri np;ttoi ,;l'f d,mg, ydj h¢ thong cap tren thong qua ban phim, cac cii:a van ra ph,1 D6i tl1t;lng quan tam chlnh eoLla chung ta la DSP la b6 xU: ly tin hi~u s6 B6 xu 1.1 tin hi$u s6 TMS 320(;25 dliQc che tao thea eong nghe CMOS co cae 284 tinh nAng ehinh sau day: Chu ky l~nh III 100 ns C6 kha nang dja chi hoa 64 kB, 64kB nM du li~u 554B DRAM tien phien chia !ibn ba kh6i BO, Bl, B2 trong dci 256B (EO) c6 th~ dung lanl PRAM Ch ttdng trlnh nguon htdng thieh vd'i h~, j,ren than 4kB ROM, rieng IOi;li TSM320E25 co 4kB EPROM Bo nhan song song 16 x IG bit voi k€t qua 32 bit Thanh ghi ehfnh va ALU 32 bit L~nh nhan j l~nh nh6 !l19t nhjp. DSP co h(lienh dQ.c bi~t phil hQ"p vd'i thth~t tmln xU: Ii tin hieu nhtt b¢ 19C b(ic cao, ph6i hgp nhieu dQng Ui.e trong 1119t nhip l~nh, do do thich hdP vd'i viec thl!C hi~n cac thu~t toan dieu ehinh thai gian thl!f~. AUS-O) D (15·0) /(; - Bit Barrel PROM 4K" 16 PA(IS·O) (AJ·o,DIS-O) ~-I~ flo Ports 161116 Time Hlnh 11.31 C§u true ben frong eUi'\ DSP TMS 32OC25. 285 DSP va flC ho:;tt dong thea kieu "hand - shaking" nghia la DSP s11 d\lng chAn XF lam cb bao cho tiC biet chu ky tinh toan cua DSP da ket thuc vii. flC cd the' truy nhl).p van RAM de trao dOi du: lit}u moi (hinh 9.38). Khi nh$.n dugc cb bao (XF = 0), pC cd the ph at tin hit}u HOLD doi DSP cho phep truy nh$.p vao RAM DSP tra Ibi cho phep Mng tin hit}u HOLDA. Neu dn khi pC truy nh;(i.p vao RAM, DSP co the tiep t\lC tinh vcri nul. l~nh cat a khOi BO tr~n chip. Hlnh 1.38 B~u dO )(ung thg hi~ pI16i h!;lp hO!1-t dOng giila I,e va DSP 9.7.2 Chuan b! vU!it chuang trinh De xay d\l"ng phhn m~m ngoAi cAe thu(tt toan dA trlnh bAy trong cac chudng truac ta con pMi ti~n hanh: 1 Chuan hoa cac c6ng thuc dp' kh1l CRC ddn vj cho tat cA cac tham so, dOng thai nga.n ngUa V11Qt qua d¢ Ion cho phep ella di3 lieu Mot m!)t dQ Ion cua cac dii' lit}u bi 'h,n che b<'Ji kba. nang cua bl) vi xii if 8, 16 holitc 32 bit. mi[tt khac phep dnh d~u thuan tlly s6 hQc, kMng cd thl! nguyen 2 Tim cac tham 56 can thie"t cho tlnh toan tit: tinh tr\ic tiep theo cac dQ.i htgng tren nhan hi~u dong Cd hol).c thong qua do luang truc tiep d(mg Cd. De ll%tp trinh ta can cd ANSI C-Compiler hOi;1,C'(va A."sembler, Linker. D6i vcri DSP TM 320C25 do chu ky tinh qua nhO, do yeu call trong thai gian th\ic, dong thai do cau truc CUR DSP chua phlic tap nen viec \;)p trlnh hang h9P ngii vtin to ra uu the hon so vdi \~p trlnh h~l.ng ngon ngi( C. DP' kip'm thu chuang trlnh thong thuhng can co phil.n ctlng. hoac uang• board Calll vao PC, ho~e dang thiN hi lI(lC b~p v;\ rhttdng- tnnh dr,huggf'r \)6i vdi truang hQp dieu khien ch)ng ('0 xoay ehipu ba pha tn ("(In ('(i thp' xay dlfng chudng trinh ti:rng bHac va ki6m tra tr\l"(' ti(;p t.rl'n ('ll ,.;t'1 dn d:l<". x('m Xf't ph;ill 2i'16 ung cua d¢ng co. DRY 1a phuong thuc liml viec co hiijm qua, giaDl dUQc chi phi ve thie't hi va phan mllm. nANG TOM TAT cAe HAC TfNII Cilli YEU CliA Il~: TRuyr~N lJ()N(; Ttl lJQNG COng ngh(! BO biAn dOi dien BO biAn dOi di(!n BO bill"n dOi dien BO bign dOi truy~ dong Ap PWM cho ap 10Bn sang ap PWM ba dang OtOnOm dOng cd khOng dmg cho dOng mllc dmg cho dung cho dOng cWng bO cd khOng dOng dong cd khOng cel khOog dOng b, dOng bO b' LOlli dOng cd khOng dOng bO khOog dllng bo khOng dOng bO khOng dOng bO ItHlg _~.~~_ .. _. ~ ____ ~Ong s6c lOng sOC cao ap long s6c hll ap Lo,;li bO bien dOi bO chinh hJu . , bi;i chi'nh luu . bO chinn luu . bO chlnh JiJu . nghich JiJu ap nghich liJu ap nghich JiJU ap 3 nghich hJu dung chuy~n m.,.ch chuyfin m:;tch mllc chuyen OtOnOm cudng bllc " cUOng bllc milch cuang bllc PWM va PWM Linh ki(ln bO bi~n diOt tiristo diOI tiristo dOi Judi (chlnh liJU) - ------~ Linh ki'n bO bign GTO ho~c GTO GTO va diOt tiristo va diOt dOi dOng cd tranzito va diOt (nghich Juu) Dai cOng suilt til 1 kW dM dgn 3MW den 12 MW 0,1 din 3MW 3MW Dai tdc dO (tlin nhi~u ngh'l, v/ph nhi~u ngh'l, v/ph dgn 8000 v/ph < 6000 v/ph « s6) dinh mllc « 400 Hz) (< 1000Hz) (< 120 Hz) no Hz) Dai dii~n ap cUa 380 dAn 660 V 380 den 660 v 3,3 den 6,6 kV < 1000 V bO bi@n dOi va vA dll"n 1500 V va dAn 1500 V dOng cd Ph:;tm vi diltu 1 den 100% 10 den 100% 1 den 1OQ')b 2 den 100% chlrrh tOc dO -- I-- Vung Jam vi(!c 2 g6c phlion tu 2 g60 phlin IU 4 2 g6c ph§n tu 4 g6c phan tu (c6 thO ch<;W1 4 g6c ngu bO bien (c6 th.A chon 4 g6c ph§n IU) deii diu song g60 phll.n tu} song nguoX Ph"" vi slJ ck,lng mQ ling dl,l'1g may belm, quat, m€ly bdm. qu:;tt. ling dl,l'1g da,c cOng suat nM nen nhao, may nEm rrhBo. can biil't (nang h.,.) va trung b'l,h dap· - Nh6n xat di"&u khien vectd thfch hCp truy"An dmg cho dOng GOng nghe It 1 kh6ng ohii ohlnh dOng tn,lc tiiip Cd cOog suAt rat dudC slJ dl,lng I xac mamen dong Cd 16n I;" 287 , I nAN(; T<lM T,h cAe n~<-' TiNIl aIlj YEl! ciJA II~: TH.lJYEN Bt)N(; TV D9NG (tiel' tht'o) . 80 bi!\n doi nng dudi d6ng bo 8ign tiin eho DOng Cd d6ng DOng cd mOt dong dlfig eho va tren dang b6 dong cd khong bO tiJ khong che chieu dOng cd khOng d6ng bo dOng bO DOng cd khOng khOng dOng bO roto kh6ng dOng bi;i dong b6 krch III doc I~p dOng bO long dAy qUSn lOng s6c ,', Be chlnh IlIU - bO chfnh IlIU, nghich bien IAn tnJc bO chfnh ILlu - I bO chlnh IlIU nghich IlIU dong luu dOng dieu khi~n liep chuy~n nghich ILlu dong dieu khiAn va chuyen mi;\ch Iheo rOlo m:;lch di~u khien dib.. khien nghjch ILlu diDu di~u khi~n khien (neu dAD ehieu) . Tiristo tilislo tirislo liriSIO tiriSlO .. Tiristo tilisto ho1i.c GTO " tirislo lilislo lilisto diol t . . 0.5 den 20 MW dudi Iren 40 MW 0,5 den SOM va o den 20 MW dOng bO d6ng bo hdn nua 20 MW 60 MW 4000 v/ph 1500 v/ph 1900 600 vlph (Iy den 8000 vlph < 3000 v/ph (tludng hdp d(te v/ph thuyel 1000 v/ph) bi~t e6 Ih~ hdn) eong , suit l<'In 3600 v/ph D,S den 7.2 kV < 18 kV <, 18 kV 1 d.e:n 10 kV 1 den 2 kV 10 den 100% 50 dOc 70 den ° den 100% 5 den 100'70 o den "()O% 100% 130% . f-- 2 g6e phlln tLl mol hoi\l,e hai g6e 4 g6e phan ttl 4 g60 philn tu 2 g6e ph!n ttl phan III 4 g6e phAn Itl i neu cAu song song ngtldc mAy bdm, quat. truyen deng mAy ap dl,lflg t6c dO dung eho cae mOl ling dl,lng nen Iy t§.m bdm, quat nen Iy thip mOman Idn dong ed 16n e6ng nghi~p tOe tOm (mAy cAn. keo nh'l IS. may nen dO thay dOl tau) .. dung eho dOng eOng ngM eu do cung sl.i dung gi6i h?n e6ng cd dieu tOe pMi SLl dl,lflg vanh eho dOng Cd suat do e6 tnidl I dong be eung vanh gop ling dl,mg , 288 TAl LI~U THAfil KHAO L Dieu khien tt,t d(mg truyen d¢ng dii;!n, Bui quae Khanh, Ph~tn Quoc Hai, Nguyen van Li~n va Duong van Nghi; NXB Khaa hQc va ky thu~t, 1996. 2. Dieu khif!D t1! dt)ng truyi'm d¢ng xoay chi~u ba pha, Ngu~n PhUng Quang; NXB Gilio dl,lc, 1996. 3. Ky thu~t vi dieu khiflD, Le Van Doanh va Phl;ltn KM.c Chuong; NXB Khaa hQc va ky thu~t, 199B. 4. Cam nang ky thu~t dilim, dieu khi~n t1,t dt)ng va tin h9C cong nghi~p; Le van Doanh djch, NXB Khaa hoc va ky thui)t, 1999 5, Xu Ii tin hi~u va lQc s6; Nguy~n Quae Trung; NXB Khaa hoc vA ky thu(lt, 1998. 6. Commande par calculateur identification, Maurice Rivoire - Jean Louis Ferrier; Eyrolles, 1997 7. Computer-controlled systems: Theory and Design. Astrorn & Writenmark; Prestice Hall, 1996 B. Applied Digital Control, Theory, Design and Implementation. JR. Leighi; Prentice Hall, 1992 9. Reglages echantillennes, H Buhler, Presses Polytechniques roman des, 1983 10. Systemes de mesures informatises. Tran Tien Lang; Masson 1991 11. Electrical Machines and Drives, Peter Var; Oxford Science Publication, 1992. 12. Regimes transitoires des machines electriques tournantes. Technique de l'ingenieur, D554, Traite Genie electrique 13. Commande numerique des machines a courant continu Technique de l'ingenieur, D3641, Traite Genie electrique 14. Commande nUlnerique des ensembles convertisseurs - machines. Technique de l'ingenieur, D3640, Trait€! Genie electrique 15. Commande numerique des machines triphases: regime permanent, Technique de l'ingenieur, D3642, Traite Genie electrique 16. COlllmande numerique des machines triphases: regime intermediare et transitoire. Technique de l'ingenieur, D3643, Traite Genie electrique 17. Real- Time IP Position. Controller Design with Torque Feedfoward Control for PM Synchronous Motor, J. J. Lin. IEEE Transactions on industrial electronics, June 1997 289 MI,IC LI,IC Lai noi dAu 3 ClUMllg 1. DAI CVONG VE DIEU KHIEN s6 MAY Dr€N 1.1 Cau true h~ thong truy£m d(.lng dii'!Jn 7 1.1.1 Sd db kh6i tclng quat eua h~ thong truy~n dQng di~n 7 1.1.2 Di1!u khi~n hldng t\f va di1!u khie'n 56 9 l.2 So sinh dil!,u khien 56 va dieu khi~n tuong tl,l 10 1.2.1 Cae h~n che elLa di1!u khi~n tuang tl,l va uu di~m cua dieu khi€n so 10 1.2.2 Uu di~Dl' ella thiel hj tuang tl,l va nhuQc die'm cua thilit bJ ~ 11 1.2.3 Cae uu diem co Hnh chat quyel dinh cue. dieu khi~n so 15 1. 3 Xu huong pMi hQp di1!u khien 56 va di1!u khien Wong tl,! 16 1.4 Ph6i hQp di~!U khien hldng tl,l va di'eu khien 56 trong dieu khil~'n dQng Cd khOng dong bi? 1.5 Van de tan 56 trong dieu khil~n so may di~n 1.6 Biii toan dl\it rll doi vai dii~u khie'n 56 may di~n 1.6.1 Xay dl,lng roo Mnh dieu khie'n 1.6.2 X8y d\!ng rn6 blnh toan cho h~ truyen d¢ng ditfln 1.6.3 Xay dl,mg thOng s6 cua cac ml.lch vang b.wng t~ 1.6.4 Xac dinh thOng so cua ml.lch vang di"eu khien so ell/Will{ 2. XU LY TiN HII;:U 56 2.1 Tin hi~u va M thOng r?li rl:lc 2.1.1 Tin hi~u tUdng t1,1. 2.1.2 Tin hi~u IUQ"ng tu: hoa 2.1.3 Tin hJ~u raj rl.lC 2.1.4 Tin hi~u s6 2.2 Cac h~ th6ng xu Ij tin hi~u 2.3 Bi~u di~n tin hi~u rai ~c 2.4 H~ th6ng tuy~n tinh 2.4.1 H~ thOng xU: Iy s6 2.4.2 Dap Ilng xung Clla he th6ng tuyt!n tinh 290 17 18 19 19 20 20 20 25 25 25 26 26 26 27 28 28 28 2.5 Dap dng xung va ham truyen dJ;lt 2.6 Bi~u dii;n M thOng vll. dn hi~!U rai r~c trong mien Z 2.6.1 Bie'u dien z thu!).n 2.6.2 Bien deli z 2.6.3 Cvc va zerO 2.6.4 Bi~n doi z ngtlQc 2.6.5 Cac dnh chlit cd bim CUll bien doi z 2.7 Bieu dien cac M thong rai r~c trong mi~n z 2.7.1 Ham truYEm d~t CUll he th6ng raj r~c 2.7.2 Bie'u di~n ham truyen d~t theo cac cVc va zero 2.7.3 Phan dch M thOng trong mien z 2.7.4 Phan dch M thOng ral r~c 29 29 29 30 31 33 33 36 36 37 37 39 2.8 Bieu di~n M th6ng va tin hi~u rOi r~c trong mien thn s6 39 2.8.1 Bien doi Fourier ral r~c DFT 39 2.8.2 Bien doi Fourier nhanh FFT 41 2.9 B{l IQc so 2.9.1 Nguyen 1y lqc tin hii;m 2.9.2 B(:t xu 1y tin hi~u so DSP 2.10 LAy mllu va hiu giu tin hi(m 86 CIUWIIR 3. MO HiNH MAY D1~N vA THIET Bl BIEN DOl 43 43 44 45 3.1 Cac gia thiet dCln gUm hoa 50 3.2 Tom tat nhung van d~ Cd ban ve suc di~n d{lng va mo m.en di~n tit ella M thong day qUAn co dong di~n chay qUIl 3.3 M6 hlnh clla lluiy di(ln tll9t chieu 3.3.1 Sd do va phl1Clng trinh t6ng quat cua may di~n 51 52 m.(>t chieu 52 3.3.2 May di$n lll{lt chieu t6ng quat 54 3.3.3 Anh hlUlng CUll day qUAn bil 56 3.3.4 Dieu chinh toc d¢ d(mg cd m¢t chieu bang tac dOng len di~n ap philn ung 3.4 Mo hlnh toan hQC cim may di(ln xOlly chieu 3.4.1 Sa do may di~n xoay chieu 3.4.2 Bien dOi Park 3.4.3 Phlfdng trinh Park 3.4.4 C6ng suat va momen 3.4.5 Khai ni(lm ve may di~n tong quat 57 59 59 59 61 62 63 291 3.5 May di~n dong be. 63 3.5.1 L~p phudng trinh may di~n dOng bl!) SU dl:mg bien doi Park 63 3.5.2 Vi d\l !lng d\lng 66 3.5.3 Nghien cU"u ngan lll~ch ba pha khi khong teli 68 3.5.4 Dc di~n khang va hang s6 thai gian thea thi nghi(ml ngan m~ch ba pha 71 3.5.5 Sd do tltdng dltdng 72 3.5.6 Xet. anh huang cua bao haa 75 3.6 M6 hinh may di~n kh6ng dong bl!) 76 3.6.1 Pht1dng trinh ella may di~n kh6ng dong b¢ 76 3.6.2 ChQn h~ tQa d¢ 78 3.6.3 M6 hinh d¢ng cd kh6ng dong b¢ t.hea quan dil:~m dieu khien 3.6.4 M6 hinh gian daan eua d¢ng cd kh6ng d5ng b¢ 80 80 3.7 M6 hinh twin hoc ella b¢ bien d6i cung cap eho may di~n 84 3.7.1 M6 hinh lien t\le 84 3.7.2 Cau true dieu khien 56 va mo hlnh rai rl.lC 86 C'II((1I1~ 4. HE THONG DIEU KHIEN' SO 4.1 Cac Sd do tong quat cua h~ dfeu khien s6 4.2 Ham truyen cua yang hi$u ehlnh s6 4.3 Tieh phan, dl.la ham so 4.3.1 Tieh phAn s6: phep tong 4.3.2 Dl.lo ham s6: vi ph:ln 4.3,3 Dl.lo ham so co iQc 4.4 PID s6 4.4.1 Ham t.ruyen thea z 4.4.2 Lap trinh bl!) dipu chlnh PID s6 4.4.3 Cae pht1dng an khac eua PID s6 4.5 Tn~ thuan, b~c cua h$ thong 4.5.1 Bac cua h~ th6ng 4.5.2 Tr~ thuan 4.6 Dl.lng ehuan cua ham truy~n 4.7 CVe, zero, 51.! 6n dinh cua h(! dieu ehinh 4.7.1 Cl.!c 47.2 Zero 292 91 93 95 95 96 96 98 98 98 100 101 101 101 103 104 104 104 4.8 M6 hlnh so b*e nhilt 4.9 Mo blnh so b~e bai 4.9.1 Ham truyen eua m6 hlnh 56 b&.e hai 4.9.2 Bieu do xae dtnh th6ng s6 4.10 Dap ung tAn cUa M roi rl;lc 4.11 On dinh cua M thong so kin 4.11.1 TUm chuan Jury 4.11.2 Tieu chuan on d~nh h~ kIn 4.12 DI) chinh xac ChItOIl/{ 5. TONG HQP BO DIEU CHfNH SO 5.1 Dl;li cudng 5.2 Tim guy lu~t di~u khili'n 5.3 Doi tUQng di~u khiiin 5.4 Tdng hQp bl) dmu ehlnh cho doi tUQng PI 5.4.1 Tin hi~u d::)t 103. buoc nhay ddn vi 5.4.2 Tin hi~u d(it la rang CUB ddn vj 5.5 Phudng phap phan bo cae el,te 5.6 Phudng phap mo hinh 105 107 107 108 113 113 114 116 117 118 118 120 120 120 122 124 125 5.7 Nh(j.n xet ve dae dnh cua doi tU:Qng 127 5.7.1 Dieu khien d6i tUQng bieu di~n bang phudng tnnh bi).e nhat 127 5.7.2 NghiAn cuu dap ung Mng pha.ng ngay l~p tile 128 5.7.3 Tinh b¢ dieu chinh 129 5.7.4 Truong hQp bi).c G(z) Ian hdn 1 130 5.7.5 Ket lu(j.n 58 Dieu chinh doi tUQ"ng IOl;li P2 5.9 Di~u chinh doi tUQng loai P J 5.9.1 Cac dnh chat eua doi tuong G(z) 5.9.2 ChQn rnO hlnh H[m)(z) 5.9.3 Cae dnh chAt cua cac da thuc R, S, T 5.9.4 Cac buoe tong hQ"p b¢ dieu chinh 5.9.5 Bam sat va dieu ehinh doi tUQng dl)e l~p 5.10 Phuong phap bien tr!.lng thai 5.10.1 Bien tr!.lng thai cua M di~u khien 5.10.2 Tong hQp bl) hiEj!u chinh tr;;tng thai 131 131 132 132 133 133 135 135 138 138 141 293 CluJolI/( 6. OAI CUONG VE CAU TRUC PHAN CUNG vA CHUONG TRINH PHAN MEM DUNG CHO OIEU KHIEN s6 MAY OleN 6.1 D~i cUClng v~ cAu truc phAn c11ng dung cho di~u khi~n may di~n 6.1.1 Tieu chuan i1,1a chQn 6.1.2 Cac hQ bq vi xu If thOng d\mg 6.1.3 Cac hQ b¢ vi di~u khie'n thOng dyng 6.1.4 Cac b(l xu If tin hi~u s6 145 145 146 148 149 6.2 Ghep n6i b(l vi xu If, b¢ vi di~u khien va b¢ xu If tin hi~u s6 151 6.3 Do t6c d¢ quay d¢ng cO 152 6 3.1 Si't dyng b¢ cam bi~n quang toc d¢ vai dia mR hoa 152 6,3.2 SU d\lng may do goc tuy~t doi 156 63.3 Phudng phap kh6ng Stl d\lng b¢ cam bi~n toc dO 158 6.4 M(lt so d!)c diem chuang trinh phan DIem trong di~u khi~n s6 may di~n C!U((JI/K 7. D1EU KHIEN s6 DONG CO DIJ;:N MOT CHIEU 7.1 DiElU khi~'n lien t\lC mlilch Yang dong di~n 7.1.1 M6 hlnh 7 1.2 Cc'1u truc h(! thOng di~u khh~n 7.1.3 H~ th6ng biJ. qtc 7.1.4 DAp 11ng t6i l1u 7.1.5 S:1p xep cac qtc 158 163 163 165 165 166 168 7.2 Di~u khil~'n roi r~c m~ch Yang dong di~n 171 7.3 Chuye'n tu dieu khi~'n wong tv sang di~u khi~n so trl,iC ti~p 174 7.3.1 D",i cuong 174 7.3.2 Tom tcit ve dieu khie'n tuang tl,f 178 7.3.3 Dieu khh~n s6 dUQc bipn doi ti:r di~u khi~n hlC1ng t1,1 ho~c dieu khi~n lai 7.3.4 Dieu khien s6 tr1,1c ti~p 7.3.5 M6 hinh roi r~c 7.3.6 So sanh dnh nAng di~u khi~n s6 181 183 186 187 7.4 ChQn chien IU'Qc dieu khi~n trong trU'ong hQp b¢ chinh luu tiristo 294 7.4.1 Cau truc vA tu~n tV dieu khi~n 7.4.2 Mo hlnh ri1i r",c 7.4.3 Ch9n b¢ dieu chinh 190 190 192 193 7.4.4 Dieu ehinh thea gi~ tr! trung blnh 7.5 Diflu khif!n s6 t6c dQ 7.5.1 Vl'ln de tln 86 My nuiu 7.5.2 B¢ bien doi t6e d¢ hai Ian thn 86 lay Ilulu 7.5.2.1 MO hl.nh va tong h9P m~h vang dong di~n 7.5.2.2 MO blnh vii. tong hQ"p 1lll;lCh vong t6c dO 193 196 197 198 199 201 7.5.2.3 Bi~n d6i wang duong sa <fi"l rbi "t~c 202 7.5.2.4 MO hlnh dieu chinh hai IAn tAn so My mdu 204 7 .5.3 Di~u khi~n 96 t6c dt') mt')t tAn 96 lily m~u 207 7.5.3.1 Di"eu chinh· tJ1.lng thai khOng cd khei kha.n v~ thbi gian dnh t08n 207 7.5.3.2 Dieu chinh t~ng thai co viln d~ ve thai gian dnh toan 7.5.3.3 Dfeu chinh bang sap xep cilc qtc 210 211 ChiwllK H. OIEU KHIEN s6 DONG co BA PHA: CHE DO XAc LAp 8.1 Cong CL,l ma tr!)n trong h¢ thong di€m khien truy€m d¢ng di~n xoay chieu ba pha 8.1.1 Ma tr!).n Clarke 8.1.2 Me tl'l).n Concordia 8.l.3 Ma trl,\n quay 8.l.4 Bien d6i Concordia vii. bi~n dt'U Park 8.2 Cau truc vii rnb hlnh hoa dic bl) nghich hlu 8.2.1 GiOi thi~u chung 8.2.2 Mb hlnh vii. bien doi Concordia di~n lip 8.2.3 Gifi tri di¢n lip vii dong diij!n 8.2.4 Mo hlnh doi voi dong di~n 8.2.5 COng Built truyen tai 8.2.6 Sa db chile nAng 8.2.7 Ca.c chien hl9c dieu khi~n bQ nghjch hlu 8.3 Dieu khien t08n song bQ nghjch hlu fip 8.3.1 D~g song 8.3.2 Quy lw)t dH~u khien 8.3.3 Mo hlnh heia theo gia tri tl1c thai 8.3.4 Ly thuy~t dieu hOO b~ nbilt 8.4 Dieu khi~n voi cAe dieu bien xac dinh tnto(' 8.4.1 Nguyfm Iy 8.4.2 Sa di"l chl1c nang R 4.3 Cac viln de I1ng d1,lng ap 215 215 216 217 217 220 220 221 222 223 224 225 226 226 22. 228 230 230 236 237 295 B 4,4 Vi dl,l ung dl,lng trong c6ng nghi~p 238 8A.5 Truyen d(Jng khong dong be) cong suat IOn 240 8.4.6 Sa d~ wong duang di"eu khiA"n PWM il.lp trlnh tnrck 242 8.5 Diflu khi~n s6 d¢ng co d~ng b¢ r6to nam cham vtnh ci'tu 242 8.5.1 M6 hlnh d(mg ca dOng b¢ rOto nam cham vlnh ci'tu 243 8 5.2 Sa do truy~n d¢ng d¢ng ca dOng b¢ nalll cham vInh ci'tu dung he) xi't Ii dn' hieu s6 244 C/IIMIIK 9. DIEU KHIEN 56 D(lNG cO DI~N XOA Y CHIEU BA PHA, CHE DO QUA DO 9.1 Dieu khien thea phuong phlip dieu bien d¢ r¢ng xung kelll theo song ll1ang 247 9.1.1 Nguyen ly 247 9.1.2 Bien d6i Concordia va Park ap d1}.ng cho h¢ nghjch luu ap di"eu bi~n PWM 250 9.1.3 Chqn u" 252 9.2 Di'eu khi~n bang di'eu' bien kep 254 9.2.1 CAi thi~n cac dieu hoa bl.1C cao voi dieu khien toan song 254 9.2.2 Dieu chinh tMnh phan ca ban bang each xep chong mOt dieu bien d¢ rQng xung PWM 254 9.3 Dieu chinh dong di~m be) nghich luu ap 256 9,4 PWM hlnh sin. S6 hoa 257 9.5 S6 hoa cac dieu khien PWM cO song mang 261 9.5.1 Dieu bien tuong tl,t tl,t nhi@n kh6ng trii 261 9.5.2 Dietl bien s6 deu 263 9.5.3 Dieu bien so d6i xung 269 9.5,4 Di"eu bien so khOng d6i xung 271 9.5.5 Thuc hi~n dieu bien ha pha. Cai thi~n cac ttnh na.ng 273 9.6 Dieu bien vecta 277 9.7 Thl,tc hi~n h~ th6ng di"eu khiA"n d¢ng co xoay chieu ba pha trl!n co sa si't dl,mg b¢ xi't Ii tin hi~u 86 kitiu TMS 320 C20/25 282 296 9.7.1 Sa iuqc v~ phan cling 282 9.7.2 Chut'i'n bj vi€t chuong trlnh 286 Bang tom t:it cac dac dnh chu y~u cua M tMly~n d¢ng tl,l dQng Tai li~u tham khao Ml,lc i1,lc 287 289 290 Ii Gi<i: 30.000d -