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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
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MC CH MN HC bin tn
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MC CH MN HC - HYBRID CAR
TOYATA engine
HONDA engine
FORD engine
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MC CH MN HC - HYBRID CAR
HONDA hybrid car engine
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MC CH MN HC H THNG LN
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MC CH MN HC - H THNG LN
H thng truyn ti HVDC
(High Voltage DC Transmission)
Trm 250MW truyn thng: 30.000m3
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MC CH MN HC NG DNG NLX
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MC CH MN HC NG DNG NLX
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MC CH MN HC NG DNG NLX
B
DC/AC
B
Ngun
5V
/12V
B
DC/DC
Mch
iu
khin
Mchk
ch
dng
TLP25
0
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MC CH MN HC NG DNG NLX
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MC CH MN HC NG DNG NLX
Gi
Cnh
Hp s Li
iu khin
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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
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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
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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)
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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
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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%)
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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
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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):
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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
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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 >
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CHNG 1: GII THIU BIN TN
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CHNG 1
SINE PWMVS.
VECTORKHNG GIAN
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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
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Sine PWM dng ng ra khng i (DC)
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Sine PWM dng in AC
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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
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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
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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
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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
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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
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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
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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
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V3, V4, V5, V6
SV t trnh by trn lp
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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
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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
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8 vector nghch lup(V0 to V7)
20
BNG 8 TRNG THI KHA CNG SuT
Vector khng gian quay
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Vector khng gian quaym hnh khng gian in p
Vector khg gian dng in
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Vector khg gian dng inmi pha theo thi gian
IU CH VECTOR KHNG GIAN IN P
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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
IU CHVECTOR KHNG GIAN IN P
IU CH VECTOR KHNG GIAN IN P
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=
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
IU CHVECTOR KHNG GIAN IN P
IU CH VECTOR KHNG GIAN IN P
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Vector tham chiu nh s phi hp cc vector ti sector 1.
Bc 2. Xc nh chu k T1, T2, T0
28
IU CHVECTOR KHNG GIAN IN P
IU CH VECTOR KHNG GIAN IN P
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Bc 2. Xc nh chu k T1, T2, T0
IU CHVECTOR KHNG GIAN IN P
IU CH VECTOR KHNG GIAN IN P
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Bc 2. Xc nh chu k T1, T2, T0
IU CHVECTOR KHNG GIAN IN P
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)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
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==
+
=
=
=
=
+
=
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
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+V
PWM1H
PWM1L
C KB 3phaPWM2H
PWM2L
PWM3H
PWM3L
S1
S2
S3
S4
S5
S6
A
B
C
TPWM
U1
U2U3
U4
U5 U6
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+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
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+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
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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
IU CH VECTOR KHNG GIAN IN P
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ti uhas tc ng vo cc kha cng sut Bng thi gian ng ngt ca mi sector
34
IU CHVECTOR KHNG GIAN IN P
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
IU CHVECTOR KHNG GIAN IN P
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Bng kha ng ngt PWM vector khng gian mi sector
(a) Sector 1. (b) Sector 2.
Bc 3. Xc nh thi im ng ngt cc kha (S1 to S6) (1)
31
IU CHVECTOR KHNG GIAN IN P
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(c) Sector 3. (d) Sector 4.
32
Bc 3. Xc nh thi im ng ngt cc kha (S1 to S6) (1)
Bng kha ng ngt PWM vector khng gian mi sector
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(e) Sector 5. (f) Sector 6.
33
Bc 3. Xc nh thi im ng ngt cc kha (S1 to S6) (1)
Bng kha ng ngt PWM vector khng gian mi sector
Dead time
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PWM1HPWM1H
PWM1LPWM1L
Dead Time
PWM1HPWM1H
PWM1LPWM1L
Bi tp
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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.
IU CHVECTOR KHNG GIAN IN P
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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
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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
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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 !!!
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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
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Momen t l nghch vi tn s.
wb : vn tc nh mc
we : vn tc ng b
iu khin V/fng cKB
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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
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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
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iiuu khikhinn V/fV/f -- BoostBoost
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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
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V = 0.44 * f * n * * SV: in p
f : tn s
n : s vng dy
: t thng S : tit din
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h d / d i
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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
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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
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Cc k hiu ng phi nhc li
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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.
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NG CKHNG NG B
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M HNH TNG NG CKB
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)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)
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M hnh pha ca mch tngng
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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.
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Cc thng sC KB ch xc lp
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/
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
= + + +
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Cc thng sC KB ch xc lp
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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 = = =
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Cc thng sC KB ch xc lp
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3
2e m m a
PT L I I
=
sina rI I =
Vi Im dng t ha stator
v Ia dng phn ng stator
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Cc thng sC KB ch xc lp
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Cc thng sC KB dng tng qut
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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
= +
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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.
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BIN I abc dq
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0
0
q a
d qd b
c
=
f f
f T f
f f
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Bin i PARK
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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
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Bin i PARK
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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
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Bin i PARK
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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
=
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M hnh CKB trong trc qd0
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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
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M hnh CKB trong trc qd0
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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
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M hnh CKB trong trc qd0
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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
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M hnh CKB trong trc qd0
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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 = =
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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
= +
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M hnh CKB trong trc qd0
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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
= + +
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..
....
..
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M hnh CKB trong trc qd0
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Vi stator :
Vi rotor :
0 0
0 0
0 0 0
0 ( ) 0( ) 0 0
0 0 0
r
r
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M hnh CKB trong trc qd0
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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
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M hnh CKB trong trc qd0
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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.
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M hnh CKB trong trc qd0
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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
=
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Ph t h i t t
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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
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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 =
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h t th t t i
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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 = +
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M hnh CKB trong trc qd0
Lm sao chn ?
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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
=
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M hnh ng cDC
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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.
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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 =
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M hnh CKB trong trc qd0
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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
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M hnh CKB trong trc qd0
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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
=
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M hnh CKB trong trc qd0
Phng trnh trng thi:
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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
=
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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=
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Nguyen l iu khin vector
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*
*
l m rs
qs r r
RK
i L
= =
*
e sl r = +
edt =
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M hnh dq0 C KB trong h quychiu tnh
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M hnh dq0 CKB trong h quy tnh cthc c bng cch t =0.
M hnh ny cn c gi l m hnhStanley.
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M hnh dq0 C KB trong hquy chiu tnh
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M hnh dq0 C KB trong hquy chiu tnh
Phng trnh in p Stator v Rotor:
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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
= +
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M hnh dq0 C KB trong hquy chiu tnh
Ph t h t th
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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
+ +
= + +
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M hnh dq0 C KB trong hquy chiu tnh
Ph t h
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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=
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qd0 Induction Motor Model in
Synchronous Reference Frame
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yKhi gn h quy chiu quay trng vi
ttrng quay ng b = e M hnh Kron
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qd0 Induction Motor Model inSynchronous Reference Frame
(contd)
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( )
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qd0 Induction Motor Model inSynchronous Reference Frame
(contd)Phng trnh in p sator v rotor
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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
= +
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qd0 Induction Motor Model inSynchronous Reference Frame
(contd)Phng trnh t thng:
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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
+ +
= + +
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qd0 Induction Motor Model inSynchronous Reference Frame
(contd)Phng trnh momen:
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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=
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Induction Motor Model inSynchronous Reference Frame
Example
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V d Krishnan
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Steady State Model of InductionMotor
in p v dng in cho mt CKB
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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 =
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Steady State Model of InductionMotor (contd)
Tng t in p v dng in ca rotor
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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 =
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Steady State Model of InductionMotor (contd)
Bin i abc qd0 vi trc d trng vi
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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
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Steady State Model of InductionMotor (contd)
trng thi n nh tc quay ca
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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
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Comparison of Constant Voltagevs. Constant Current Operation
Cho ng cKB 20 hp, 2 cc,60Hz, 220V 3 c
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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 )
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Lm=xm/omega=0.0155 (H)L L / 0 000567 (H)
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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= .
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M hnh p c lngtthng
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M hnh dng c lng tthng
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B ngun p (VSI)
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B ngun dng (CSI)
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Nhng vn khc, xem trong
Ti liu ting Anh.Ti liu thy Trn Cng Binh
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Ti liu thy Trn Cng Binh.
Ti liu Bin tn v thit kbin tn
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Tnh tan tt c cc gi tr cn thitcho vic iu khin nh hng t
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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