bai giang mon htdk so version 180209

8/8/2019 Bai Giang Mon HTDK So Version 180209

1/131

H THNG IU

KHIN S(Bin tn cho

ng ckhngng b 3 pha)

H THNG IU

KHIN S(Bin tn cho

ng ckhngng b 3 pha)

3030 tititt bbmnmn ThiThittbb iinn -- 09085588820908558882

GVGVgigingng ddyy:: Th.STh.SMAI TUMAI TUN N TT 0.27570.2757


2/131

www4.hcmut.edu.vn/~tuandat.mai

MC CH MN HC bin tn


3/131


MC CH MN HC - HYBRID CAR

TOYATA engine

HONDA engine

FORD engine


4/131


MC CH MN HC - HYBRID CAR

HONDA hybrid car engine


5/131


MC CH MN HC H THNG LN


6/131


MC CH MN HC - H THNG LN

H thng truyn ti HVDC

(High Voltage DC Transmission)

Trm 250MW truyn thng: 30.000m3


7/131


MC CH MN HC NG DNG NLX


8/131




9/131



B

DC/AC

B

Ngun

5V

/12V

B

DC/DC

Mch

iu

khin

Mchk

ch

dng

TLP25

0


10/131




11/131



Gi

Cnh

Hp s Li

iu khin


12/131


Khoch hc tp (h chnh quy)

Tun 1: Gii thiu - n tp v b nghch lu

Tun 2+3: Gii thiu h quy chiu quay, m hnh ng my in trong h quy

chiu quay. Gii thiu h quy chiu a-b-c, alpha-beta, d-q-o.

Tun 3: Gii thiu my in DC kch t c lp Khi nim iu khin c lp , TE.

Tun 4+5+6+7: iu khin vector ng ckhngng b 3 pha. Gii thiu h quy chiu nh hng t thng rotor, M hnh my in trong h quy chiu nh hng t thng rotor. So snh 3 phng trnh c c , T

E

vi my in DC kch t clp

S khi my in trong h quy chiu nh hng t thng rotor. Khi nim iu khin dng *, TE*, t ids* iqs* ia*,ib*,ic*. S khi h iu khin. iu khin vi t thng lnh khng i (*) n ginhaca h iu

khin chung. iu khin tip p stator


13/131


Khoch hc tp (h chnh quy)

Tun 8+9: thi gia k Tun 07+10: 4 p/p c lng tthng rotor

m,is

Us,is Is, r*, TE*

Tun 11:

Thit k b iu khin, bi tp vi nhiu thng s my khcnhau Tun 12+13:

iu khin tip dng (2 p/p trong h quy HQC c nh) (1 p/ptrong HQC quay)

So Snh vi iu khin tip p. Tun 13+14:

c lng vn tc trong iu khin nh hng t thng Tun 15+16:n tp + bi tp


14/131


NI DUNG KHA HC (h khng chnh quy)

Cu trc b bin tn v cc khi chc nng. (3 tit)

K thut iu chdng in sin trong cc b bintn: sin PWM v vector khng gian. (5 tit)

Bin i m hnh vt l tnh 3 pha abc sang m hnhvt l quay dq. (5 tit)

B nghch lu dng v b nghch lu p. (3 tit)

2 phng php iu khin ng ckhng ng b 3

pha: V/f v nh hng tthng rotor. (10 tit)

Cc phng php c lng tthng rotor: m hnhn p v m hnh dng in. (3 tit)

n tp (1 tit)


15/131


NH GI KT QU MN HC (h chnh quy)

Kim tra u k + bi tp trn lp + bi tpnhm ??? + tho lun trn lp (30-40%)

n tp cc c tnh v phng trnh ton hc ng c AC khngng b (10%).

Bi ton tnh vector khng gian (10%).

Bi ton chng minh cng thc trn m hnh dq (10-20%)

Thi gia k (20%): t lun, sdng TLiu

Thi cui k (40-50%): trc nghim, k dngti liu


16/131


NH GI KT QU MN HC (h khng chnh quy)

2 Bi tp trn lp + 1 bi tp nhm (40%) n tp cc c tnh v phng trnh ton hc ng c AC khng ng

b.

Bi ton tnh vector khng gian. Bi ton chng minh cng thc trn m hnh dq Bi tp ln: (np vo ngy thi)

M hnh tn hiu nh.

iu khin vector cho b chnh lu PWM pha ung dy. iu khin vectornh hng t thng stator. iu khin vector cho b truyn ng cyclo converter.

Tho lun trn lp (10%)

Thi cui k (50%)


17/131


CC CU HI T RA TRONG KHA HC

Bin tn l g ? Phn loi bin tn. C bao nhiu phng php iu khin bin tn

hin nay ? So snh b ngun dng v ngun p. u im v nhc im ca b ngun dng v

b ngun p.

u im ca vic gii tch dng/ in p trn mhnh h quy chiu quay. Ti sao cn phi iu khin nh hng t thng

rotor v c lng t thng rotor ?

Cc phng php c lng t thng rotor? Cch iu khin tip dng v tip p ? Cch chn thng sca b iu khin PID trong

iu khin nh hng t thng rotor


18/131


CHNG 1: GII THIU BIN TN

Chnh lu (rectifier): 1 pha, 3 pha, tia, sao ?

Chopper (leg): n bc, a bc, p, dng ?

Nghch lu/Bin tn (inverter): 1 pha, 3pha, lai kha iu khin, ch bo v u vo bin tn l tn hiu AC hay DC ???

B bin i (converter):


19/131


B nghch lu 3 pha

3-phInverter

VBUS

AN6AN0QEAQEB

INDEX

AN7

PWM3HPWM3LPWM2HPWM2LPWM1HPWM1L

FLTA Bo li

IBUSAN1

120 - 240VAC

AC Motor

Cm bin hi tip

dsPIC30F4011

Chnh luAC/DC


20/131


N(RPM) = (1-s)

(f : tn s, p : s cc

s : trt)

in p thay i : iu ch rng xungTn s thay i : iu ch chu k xung

120fp

V = 0.44 * f * n * * S

V : in p

f : tn s

n : s vng dy

: t thng S : tit din

CVCF VVVF

AC DC AC < iu khin tc >


21/131


CHNG 1: GII THIU BIN TN


22/131


CHNG 1

SINE PWMVS.

VECTORKHNG GIAN


23/131


iU CH RNG XUNG PWM

2% 50% 98%

50%

Cho php ng vo DC c nh, ng ra AC in p trung bnh ng ra ph thuc rng xung ng cnhn in p PWM v sn sinh ra dng in

hnh sin vi dao ng ca tn ssng mang

Tn hao cng sut l ti thiu trn transistor cngsut so vi cc phng php khc


24/131


Sine PWM dng ng ra khng i (DC)


25/131


Sine PWM dng in AC


26/131


M hnh b nghch lu DC AC n gin

+V= Vdc= DC link

+V

PWM1H

PWM1L

C KB 3phaPWM2H

PWM2L

PWM3H

PWM3L

ab

cn

cba

Vab= Van-Vbn


27/131


Sine PWM dng in AC

Tn hiu iu khin sine-tam gic, PWM

in p pha Van v Vbn, v in p dy Vab

www.ewh.ieee.org/soc/es/Nov1998/08/PWMINV.HTM

van

vbn


28/131


Sine PWM dng in AC

Cc gi tr pha a (cc G, dng in pha, dng in trnkha cng sut, dng qua diode)

www.ewh.ieee.org/soc/es/Nov1998/08/PWMINV.HTM


29/131


Vector khng gian

iu kin trong cc kha cng sut ch vector khng gian Ti mi thi im, ch1 trong 2 kha trn cng 1

chopper trng thi ng, kha cn li h.

C tng cng bao nhiu trng thi ???

+V

PWM1H

PWM1L

C KB 3phaPWM2H

PWM2L

PWM3H

PWM3L


30/131


Trng thi v vector kha c bn

Vectorng ngt c bn

6 vector tch cc (V1

,V2

, V3

, V4

, V5

, V6

)

Nm trn 6 v tr nh ca hnh lc gic

inpDC c cung cpchoti qua cc kha

Mi vecto c bn (1 to 6) lch nhau 60

2 vector zero (V0, V7)

Nm ti gc O vi module bng o

Khng c in p cpchoti

23

IU CHVECTOR KHNG GIAN IN P


31/131


Vector V0 v V7

+V

PWM1H

PWM1L

3 PhaseAC motor

PWM2H

PWM2L

PWM3H

PWM3L

S1

S2

S3

S4

S5

S6

+V

PWM1H

PWM1L

3 PhaseAC motor

PWM2H

PWM2L

PWM3H

PWM3L

S1

S2

S3

S4

S5

S6

AB

C

AB

C

n

n


32/131


Vector V1 v V2

V+/3

2V+

/3

+V

PWM1H

PWM1L

3 PhaseAC motor

PWM2H

PWM2L

PWM3H

PWM3L

+V

PWM1H

PWM1L

3 PhaseAC motor

PWM2H

PWM2L

PWM3H

PWM3L

S1

S2

S3

S4

S5

S6

S1

S2

S3

S4

S5

S6

2V+

/3

V+

/3

A

B

C

AB

C

AB

CA

B

C

A

B

Cn

n


33/131


V3, V4, V5, V6

SV t trnh by trn lp


34/131


Vector khng gian in p

Vector ng ngt in p dy-trung tnh in p dy-dyVector

in p

Vector ng ngt: 0 H h, L ng ; 1 H ng, L hTt c cc in p tng ng nhn vi VDC


35/131


U111U7000000111

300oU60-111/3-2/31/3101

240o

U51-102/3-1/3-1/3100

180oU410-11/31/3-2/3110

120oU301-1-1/32/3-1/3010

60oU2-110-2/31/31/3011

0oU1-101-1/3-1/32/3001

U000U0000000000

ususUCAUBCUABUCnUBnUAnS5S3S1

usUucaubcuabuscusbusaVcVbVa


36/131


8 vector nghch lup(V0 to V7)

20

BNG 8 TRNG THI KHA CNG SuT

Vector khng gian quay


37/131


Vector khng gian quaym hnh khng gian in p

Vector khg gian dng in


38/131


Vector khg gian dng inmi pha theo thi gian

IU CH VECTOR KHNG GIAN IN P


39/131


Thc hin Vector khng gian PWM

Bc 1. Xc nh Vd, Vq, Vdy, v gc ()

Bc 2. Xc nh chu k T1, T2, T0

Bc 3. Xc nh thi gian ng ngt ca cc

kha cng sut (S1 to S6)

26




40/131


=

cn

bn

an

q0

d0

V

V

V

2

3

2

30

21

211

3

2

V

V

ky)batquaysotanf(voi,

t2t)V

V(tan

VV

a

aa

d0

q01

2

q0

2

d0dy

=

===

++=+=

cba vvvVrrr

r

Vector khng gian in p v cc thnh phn (d, q).

cnbnan

cnbnq0

cnbnan

cnbnand0

V2

3V

2

3V

cos30Vcos30V0V

V2

1V

2

1V

cos60Vcos60VVV

+=

+=

=

= Bc 1. Xc nh Vd, Vq, Vref, v gc () Bin i h quy chiu : abc

thnh dq

27




41/131


Vector tham chiu nh s phi hp cc vector ti sector 1.


28




42/131






43/131





44/131


)600(where,

)3/(sin

)3/(cosV

3

2T

0

1V

3

2T

)(sin

)(cosVT

)VTV(TVT

VdtVdtVV

dc2dc1refz

2211refz

T

TT

0

TT

T1

2

T

0

T

0

1ref

z

21

21z 1

+

=

+=

++= +

+

==+=

=

=

dc

ref

sz210

2

1

V3

2

Vaand

f

1Twhere,),(

)3/(sin

)(sin

)3/(sin

)3/(sin

TTTT

aTT

aTT

z

z

z


45/131


==

+

=

=

=

=

+

=

600

6)toSector1is,(that6through1nwhere,,

3

1

cossin3

1

sincos

3

3

1sin

3

sin3

coscos3

sin3

3sin

3

3

1

3sin

3

210

2

1

TTTT

nn

V

refVT

n

V

refVTT

nn

V

refVT

n

V

refVT

n

V

refVTT

z

dc

z

dc

z

dc

z

dc

z

dc

z


46/131


+V

PWM1H

PWM1L

C KB 3phaPWM2H

PWM2L

PWM3H

PWM3L

S1

S2

S3

S4

S5

S6

A

B

C

TPWM

U1

U2U3

U4

U5 U6


47/131


+V

PWM1H

PWM1L

C KB 3phaPWM2H

PWM2L

PWM3H

PWM3L

S1

S2

S3

S4

S5

S6

A

B

C

T1= a.TPWM

TPWM

a.U1U1

U2U3

U4

U5 U6


48/131


+V

PWM1H

PWM1L

C KB 3phaPWM2H

PWM2L

PWM3H

PWM3L

S1

S2

S3

S4

S5

S6

A

B

C

T1= a.TPWM T2= b.TPWM

TPWM

b.U2

a.U1U1

U2U3

U4

U5 U6


49/131


T1= a.TPWM T2= b.TPWM T0= c.TPWM

TPWM

b.U2

a.U1c.U7

U1

U2U3

U4

U5 U6

+V

PWM1H

PWM1L

C KB 3phaPWM2H

PWM2L

PWM3H

PWM3L

S1

S2

S3

S4

S5

S6

A

B

C



50/131


ti uhas tc ng vo cc kha cng sut Bng thi gian ng ngt ca mi sector

34


Bc 3. Xc nh thi im ng ngt cc kha (S1 to S6) (1)

b.U2

a.U1c.U7

U1

U2U3

U4

U5 U6555

444333

222111666



51/131


Bng kha ng ngt PWM vector khng gian mi sector

(a) Sector 1. (b) Sector 2.


31



52/131


(c) Sector 3. (d) Sector 4.

32




53/131


(e) Sector 5. (f) Sector 6.

33



Dead time


54/131


PWM1HPWM1H

PWM1LPWM1L

Dead Time

PWM1HPWM1H

PWM1LPWM1L

Bi tp


55/131


Bi tp 1.1. in p ba pha 380V, 50Hz. Ti thi im t =6ms. Tnh usa, usb, usc, us(=ud0) v (us=uq0), |us|? Bitgc pha ban u 0 = 0.

Bi tp 1.2. in p ba pha cp cho b nghch lu l 380V,50Hz. Tnh in p pha ln nht m b nghch lu c thcung cp cho ng c.

Bi tp 1.3. in p mt pha cp cho b nghch lu l220V, 50Hz. Tnh in p dy ln nht m b nghch luc th cung cp cho ng c.

Bi tp 1.4. in p ba pha cp cho b nghch lu l 380V,

50Hz. in p pha b nghch lu cp cho ng cl 150Vv 50Hz. Ti thi im t = 6ms. Tnh T1, T2 v T0? Bitgc pha ban u o = 0 v tn siu rng xung l 20KHz.



56/131


So snh PWM v Space Vector PWM

So sn in p tuyn tnh cc i gia Sine PWM v SV PWM.

24

Gim thnh phn snghi bc cao so vi pp

iu khin 6 bc

Bin cc i cathnh phn vector inp cbn cao hn SinePWM

N TP NG CKHNG NG B


57/131


M hnh PI, m hnh T 1 pha ca ng c khng ng b 3 pha

Dng in nh mc,khi ng.Momen nh mc, momen khi ng, momen ti hn.

trt nh mc, trt ti hn.

Cng sut

in t

, cng su

t c

h

c, cng su

t ng ra.

NHC IM NG CKB


58/131


Tc khng d dng iu khin nh ng cDC.

Dng khi ng ln, thng 6-8x so vi gi tr nh

mc. Vn hnh non ti th h scng sut rt km.

Cc nhc im trn

uc khc phc nhbin tn AC

CT05DCN hc Truyn ng in !!!


59/131


iu khin tn s(f)

- p l hng s v s phi xp x 0- Tc (rpm) ph thucvo tn s

Tn s thay i tc s thay i.

N(RPM) = * (1-s)

(f : tn s, p : s cc), s : trt

120f

p

iu khin V/fng cKB


60/131


Momen t l nghch vi tn s.

wb : vn tc nh mc

we : vn tc ng b

iu khin V/fng cKB


61/131


Cc kh khn

-- Khi in p l hng s

v tn s dng in gim.

T thng gim ng . Dng in tng.

ng c tng nhit.

Chuyn chy c th xy ra.

-- Khi in p l hng sv tn s dng in tng.

Tc tng.

Momen khng ph hp.

Nu tn s tng lin tc, ng c s khng p ng cvi ti.

iu khin V/fng cKB


62/131


Thay i

tn s

Thay i t thng, dngin v momen

duy tr t thng l hng s,V/f phi uc duytr l gi tr hng s.

Nu V/f l hng s, momen s l hng s.

T thng phi uc duy tr l hng s

T thng rotor ~ V/f


63/131


iiuu khikhinn V/fV/f -- BoostBoost


64/131


in p r i trn tr khngca thnh phn stator v

in tr tr nn ng k sovi tr khng.

T thng gim

tn s thp

Momen

inpphi c b sung vng hat ng tn s thp

Vboost= RsIm


65/131


V = 0.44 * f * n * * SV: in p

f : tn s

n : s vng dy

: t thng S : tit din


66/131


h d / d i


67/131


cc ttnhnh iiuu khikhinn V/fV/f

Khi V/fc vn hnh trt thp, hiu sut rt tt.

H thng vn hnh iu kin momen cc i.

Momen tng i c lp vi tn s.

Cu trc h thng n gin.

Gi thnh r.

p ng chp, iu khin vng h.

4 h t d / t d t i

CHNG 2: IU KHIN V/f


68/131


V/f program flow chartV/f program flow chart

Ly muTo tn s

AD converter

Tn scc i

in pcc i

Module PIO

i lng thay

i I/O

V,f b gii hn

Gi tr AD

converter

PWM

www4 hcmut edu vn/~tuandat mai

Cc k hiu ng phi nhc li


69/131


Ls Lr

a: i lng pha stator, A: pha rotor s: stator ; r:rotor

Ls= Lls, L r = Llr : in cm tn stator, in cm tn rotor.

: vn tc quay chc (

s trong KT

2) s: tc s so vi stator (s trong KT2) r: vn tc quay tc thi ca r so vi stator (rtrong KT2) sl: vn tc quay tc thi ca r so vi rotor (s khi ch XL) a: vn tc quay ca h trc d q c vn tc bt k

s: gc quay ca h quy chiu quay stator dqs r: gc quay ca h quy chiu quay stator dqr r r Ls = Lm + Ls in cm stator.

Lr= Lm + Lrin cm rotor. Ts = Ls/ Rs hng s thi gian stator. Tr= Lr/ Rrhng s thi gian rotor. =1 - Lm2/LsLrh s t tn tng. Tsamp chu k ly mu.

www4 hcmut edu vn/~tuandat mai

NG CKHNG NG B


70/131



M HNH TNG NG CKB


71/131

www4.hcmut.edu.vn/ tuandat.mai

)cos(2 tVva = )3

2cos(2

= tVvb

Mt ng c khng ng b c cc tham s sau:Rs=10 ohm;Rr=6,3 ohm ;Ls=Lr=0,04H ; Lm=0,4H. My vn hnh 1425 vng/pht v cung cpngun 220V/50Hz.My c 4 cc v vn hnh iu kin n nh. My ccp ngun, dng hnh sin, in p pha quy nh bi:

)

3

4cos(2

= tVvc

Vit in p pha stator theo thnh phn trc d-q v in p pha vector khnggian trong h quy chiu quay ng b.

Tnh dng in vector khng gian trn h ta tnhv h ta quay d-q.

Nu thay bng ngun 110V/25Hz v ng c quay vi tc 675 vng/pht.Tnh li cc thng s p v dng in pha trn (BI TP V NH THEO NHM)


M hnh pha ca mch tngng


72/131

c ut edu / tua dat a

IS = Io + Ir vi Irdngng rotorh cm vi stator.

Io = Ic + Im l dng kch tviIc dng tn hao ng (=Vm/Rm)v Im dng tha (=Vm/L)

Vr = VRr + VLl in p h cmrotor

viVRr

p ri trn in trrotorandV

Ll p ri trn trcm khng rotor

in p h cm trn rotor dnn dngIr tn s trt

trt.


Cc thng sC KB ch xc lp


73/131

/

3 cosin s s P V I =

23ls s s P I R=

23lr r r P I R=

2

3 /lc m m P V R=23 / g r r P I R s=

23 (1 / )o g lr r r P P P I R s s= =

sh o Fw

P P P =

2 2 2( / ) ( )

sr

s r e ls lr

VI

R R s L L=

+ + +

2

2 2 23

2 ( / ) ( )

sre

e s r e ls lr

VRPT

s R R s L L

= + + +

2

2 2 23

2 ( ) ( )

sre

e s r e ls lr

VRPT R R L L

= + + +




74/131

Momen in t:

vi = gi tr nh tthng khe hkhng kh

v = gi tr nh dng rotor

3 sin2 2

e m rPT I =

m

rI

2 23 1 32

o re r r r

m m e

P Rs PT I R I s s = = =




75/131

3

2e m m a

PT L I I

=

sina rI I =

Vi Im dng t ha stator

v Ia dng phn ng stator




76/131


Cc thng sC KB dng tng qut


77/131

asas as s

dv i r

dt

= + bsbs bs s

dv i r

dt

= + cscs cs s

dv i r

dt

= +

arar ar r dv i r

dt= +

brbr br r dv i r

dt= +

crcr cr r

dv i r dt

= +



78/131

M hnh CKB trng thi xc lp b qua squ khi thay i ti v thay i tn s stator.

Nhng i lng ny s tng rt nhanh i ving dng truyn ng c tc thay i.

B truyn ng tc thay i uc cp mtngun gii hn, b gii hn bi tn sut ng ngtcc kha v kch thc b lc, chng hn hkhng th cung cp cng sut truyn rt ln.


BIN I abc dq


79/131

0

0

q a

d qd b

c

=

f f

f T f

f f


Bin i PARK


80/131

0

2 2cos cos cos

3 3

2 2 2( ) sin sin sin

3 3 3

1 1 1

2 2 2

q q q

qd q q q q

+

= +

T

0

0

q a

d qd b

c

=

f f

f T f

f f


Bin i PARK


81/131

Bin i ngc cho bi:

V, [T][T]-1=[I]

1

0

cos sin 12 2

( ) cos sin 13 3

2 2cos sin 1

3 3

q q

qd q q q

q q

=

+ +

T


Bin i PARK


82/131

Tm li, i vi in p 3pha:

V dng in 3 pha:

0

0

q a

d qd b

c

v v

v T v

v v

=

0

0

q a

d qd b

c

i i

i T ii i

=


83/131


M hnh CKB trong trc qd0


84/131

CKB c 2 h thng - rotor v stator bin i v h ta trc giao:

trn stator,

vi [Ts]= [T()], ( xc nh)

v trn rotor,

vi [Tr]= [T()], ( c xc nh)

[ ]0qd s abc= T

0 [ ]dq r r abcr = T




85/131

STATOR:

abc: abcs = Ls iabcs + Lsr iabcr

qd0:

qd0s= Ts

abcs= Ts Ls Ts-1

iqd0s +Ts Lsr Tr-1

iqd0r

ROTOR: abcr = Lsr iabcs + Lr iabcr

qd0r= Tr abcr= Tr LsrT Ts-1 iqd0s +Tr Lr Tr-1 iqd0r




86/131

bin i:

vi Lar= Lr-Lab

v tng t i vi

Vector dng in v in p vn phthuc and .

t = - r , vi r l v tr rotor.

1

0 0

0 0

0 0

ar

r r r ar

ar

L

T L T L

L

=

1

s s sT L T




87/131

Kt qu:

TON B L HNG S!!

1 1

3 0 02

30 02

0 0 0

m

T

r sr s s sr r m

L

T L T T L T L = =

www4.hcmut.edu.vn/~tuandat.maiM hnh CKB trong trc qd0


88/131

r v phi h trb bin i lm vic

( )0qd s abcs abcs abcs s s sd

v T v T Ri T dt = = +

1 1

0 0qd s qd s s s s s

dT RT i T T

dt

= +

1

0 0qd s qd ss s

d Ri T T

dt

= +




89/131

USdng php nhn o hm:

( ) 10 0 0 0qd s qd s qd s qd ss sd d

v Ri T T dt dt

= + +

( )0 0 0

0 0

0 0

0 0 0

qd s qd s qd s

d

dt

d dRi

dt dt

= + +



90/131

..

....

..




91/131

Vi stator :

Vi rotor :

0 0

0 0

0 0 0

0 ( ) 0( ) 0 0

0 0 0

r

r




92/131

Phng trnhin p theo stator:

dsds ds s qs

dv i r

dt

= +

qs

qs qs s ds

dv i r

dt

= + +

00 0

s s s s

dv i rdt

= +

( ) drdr dr r r qr dv i rdt

= +

( )qr

qr qr r r dr

dv i r

dt

= + +

00 0

rr r r dv i r

dt= +

Phng trnh inp theo rotor:

Cng thc 2.31 trong ti liu thy Trn Cng Binh




93/131

Cc phng trnh (v0s and v0r) c b

qua i vi iu kin vn hnh cnbng.

i vi my rotor lng sc,vdr=vqr=0.




94/131

Ta cng c thvit tthng stator vrotor:

0 0 0

0 0 0

0 0 3 2 0 0

0 0 0 3 2 0

0 0 0 0 0

3 2 0 0 0 0

0 3 2 0 0 0

0 0 0 0 0

qs as sr qs

ds as sr ds

as s

qr sr ar qr

dr sr ar dr

r ar r

L L i

L i

L i

L i

L i

i

=



95/131


Ph t h i t t


96/131

Phng trnh in p trn rotor

( ) 0dr r dr e r qr d

R idt

+ =

( ) 0qr

r qr e r dr

dR i

dt

+ + =

dr r dr m dsL i L i = +

qr r qr m qsL i L i = +

1 mdr dr ds

r r

Li i

L L=

1 mqr qr qs

r r

Li i

L L=

Da trn s mch tng ng slide pha truc



97/131

0dr mr

dr r ds sl qr

r r

d LR

R idt L L

+ =

0

qr mr

qr r qs sl dr r r

d LR

R idt L L

+ + =

sl e r =


h t th t t i


98/131

hng tthng rotor trng vi dr, qr=0 => dqr/dt =0

r rm dsr

r

dLL i

R dt

+ =

m rl qs

rr

L Ri

L

=

r= dr trong trng hp ny

m dsrL i =

e r sl = +



99/131



Lm sao chn ?


100/131

Lm sao chn ?Cch tt nht l:

vi s l tc ng b.Cch la chn ny lm in p 3 c a vostator trng c v cn bng.

sdt

d

=


M hnh ng cDC


101/131

ng c khng ng b c th c trng thi nh ng cDC nu iu khin uc thc hin trong h quy chiu quayd-q, trong cc i lng bin thin c gi tr nh ilng DC trng thi n nh.

2 ng vo iu khin ids v iqs c th s dng cho bin tn

iu khin vector.



102/131

Vi iu khin vector: ids (induction motor) If (dc motor) iqs (induction motor) Ia (dc motor)

Momen cho bi cng thc sau:

Trong ,l gi tr nh ca bin vector khng gian

'

e t qs t ds qsrT K i K i i= =r r =




103/131

Momen ng ctrong khng gian dq

cho bi:

vi P= # sccnn:

vi = momen ti

( )3

2 2m qr dr dr qr

Pi i

=

( )r

m l

d

J dt

=

l




104/131

V d: Phng trnh cho 3 pha cn bng3, lng sc, ng ckhng ng b 2cc:nh lut bo tan:

( )3

2m qr dr dr qr i i =

0 3 2 0

0 0 3 2

3 2 0 0

0 3 2 0

qs as sr qs

ds as sr ds

qr sr ar qr

dr sr ar dr

L L i

L L i

L L i

L L i

=



Phng trnh trng thi:


105/131

Phng trnh trng thi:

r= tc rotor= tc h quy chiuJ= momen qun tnh

l = momen ti

ds s ds qs ds

dr i v

dt =

qs s qs ds qs

dr i v

dt = +

( )dr r dr r qr

dr i

dt =

( )qr r qr r dr d r idt

= +

( )m lrd

dt J

=



106/131

dr r dr m dsi L i = +

qr r qr m qsi L i = +

1 mdr dr ds

r r

Li i

L L=

1 mqr qr qs

r r

L

i iL L=


Nguyen l iu khin vector


107/131



108/131

*

*

l m rs

qs r r

RK

i L

= =

*

e sl r = +

edt =


M hnh dq0 C KB trong h quychiu tnh


109/131

M hnh dq0 CKB trong h quy tnh cthc c bng cch t =0.

M hnh ny cn c gi l m hnhStanley.


M hnh dq0 C KB trong hquy chiu tnh


110/131



Phng trnh in p Stator v Rotor:


111/131

g p

qs s qs qs

dv r i dt= +

ds s ds ds

dv r i

dt= +

qr r qr qr r dr dv r idt

= +

dr r dr dr r qr

dv r i

dt = + +

0 0 0 s s s s

dv r i

dt= + 00 0

rr r r

dv r i

dt

= +



Ph t h t th


112/131

Phng trnh tthng:

0 0

0 0

0 0 0 0

0 0 0 0

0 0 0 0 0

0 0 0 0

0 0 0 0

0 0 0 0 0

qs ls m m qs

ds ls m m ds

ls s

qr m lr m qr

dr m lr m dr

r lr r

x x x i

x x x i

x i

x x x i

x x x i

x i

+ +

= + +



Ph t h


113/131

Phng trnh momen:

3 ( )2 2

em qr dr dr qr PT i i =

3( )2 2

ds qs qs ds

Pi i =

3

( )2 2 m dr qs qr dsP

x i i i i=


qd0 Induction Motor Model in

Synchronous Reference Frame


114/131

yKhi gn h quy chiu quay trng vi

ttrng quay ng b = e M hnh Kron


qd0 Induction Motor Model inSynchronous Reference Frame

(contd)


115/131

( )



(contd)Phng trnh in p sator v rotor


116/131

Phng trnh in p sator v rotorqs

qs qs s e ds

dv i r

dt

= + +

dsds ds s e qs

dv i r

dt

= +

00 0 s s s dv i r

dt= +

( ) drdr dr r e r qr d

v i rdt

= +

( )qr

qr qr r e r dr

dv i r

dt

= + +

00 0

rr r r

dv i r

dt

= +



(contd)Phng trnh t thng:


117/131

Phng trnh tthng:

0 0

0 0

0 0 0 0

0 0 0 0

0 0 0 0 0

0 0 0 0

0 0 0 0

0 0 0 0 0

qs ls m m qs

ds ls m m ds

ls s

qr m lr m qr

dr m lr m dr

r lr r

x x x i

x x x i

x i

x x x i

x x x i

x i

+ +

= + +



(contd)Phng trnh momen:


118/131

Phng trnh momen:

3 ( )2 2

em qr dr dr qr PT i i =

3( )2 2

ds qs qs ds

Pi i =

3

( )2 2 m dr qs qr dsP

x i i i i=


Induction Motor Model inSynchronous Reference Frame

Example


119/131

V d Krishnan


Steady State Model of InductionMotor

in p v dng in cho mt CKB


120/131

in p v dng in cho mt CKBtrng thi n nh withvi pha3 cnbng uc cho bi:

cos( )as ms ev V t=

2cos( )

3bs ms ev V t

=

4cos( )3

cs ms ev V t=

cos( )as ms e si I t =

2cos( )

3bs ms e si I t

=

4cos( )3

cs ms e si I t =


Steady State Model of InductionMotor (contd)

Tng t in p v dng in ca rotor


121/131

Tng t, in p v dng in ca rotorquay vi trt s:

cos( (0) )ar mr e r v V s t = cos( (0) )ar mr e r r i I s t =

2cos( (0) )

3br mr e r v V s t

=

4cos( (0) )3

cr mr e r v V s t =

2cos( (0) )

3br mr e r r i I s t

=

4cos( (0) )3

cr mr e r r i I s t =



Bin i abc qd0 vi trc d trng vi


122/131

Bin i abc qd0 vi trc d trng vitrc a ca stator:

vis

vr

= thnh phn qd0 trong h quychiu dng v h quy chiu quay

ej ts ss qs ds msv jv V e = =vv

ej t s s js qs ds msi ji I e e

= =iv

( (0) )( ) ( )

( ) ( )e rr r j s t t j tr r

r qr dr mr v jv e V e e

= =vv

( (0) )( ) ( )( ) ( )e rr r j s t t j tr r

r qr dr mr i ji e I e e = =i

v



trng thi n nh tc quay ca


123/131

trng thi n nh tc quay carotor la e(1-s),

Phng trnh ny dng n ginha in p rotor v vector khng giandng in m trthnh:

( ) (1 ) (0)r e rt s t = +

ej t s s j

r qr dr mr v jv V e e

= =vv

( ) er tjs sr qr dr mr i ji I e e

+= =iv


Comparison of Constant Voltagevs. Constant Current Operation

Cho ng cKB 20 hp, 2 cc,60Hz, 220V 3 c


124/131

g p, , ,cc thng s(quy i) v stator nhsau:

rs = 0.1062 xls = 0.2145 rr = 0.0764 xlr = 0.2145 xm = 5.834 Jrotor= 2.8 kgm2

Tnh Ls,Lr,Lm, t xc inh cc gi tr isq, isd cnthit momen in tTe=4Nm. T suy ratthng rotor rotor ?

(thi gian lm bi : 10 pht )


Lm=xm/omega=0.0155 (H)L L / 0 000567 (H)


125/131

Lr-Lm=xlr/omega=0.000567 (H)

Ls-Lm=xls/omega=0.000567 (H)Omega= 2*pi*f

Ids*iqs=2/3*Lr/Lm2*Te.

Xt 1 trng hp n gin ids=1 Amp

Suy ra lamdar= .


M hnh p c lngtthng


126/131


M hnh dng c lng tthng


127/131


B ngun p (VSI)


128/131


B ngun dng (CSI)


129/131


Nhng vn khc, xem trong

Ti liu ting Anh.Ti liu thy Trn Cng Binh


130/131

Ti liu thy Trn Cng Binh.

Ti liu Bin tn v thit kbin tn


Tnh tan tt c cc gi tr cn thitcho vic iu khin nh hng t


131/131

cho vic iu khin nh hng tthng rotor gin tip. Xem nhmt

ng ckhng ng b lng sc 4cc ni Y c cc tham sti 50 Hznhsau:

Lit k cc thng sm chng tacn tnh tan

bai giang mon htdk so version 180209

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