Download - DKMD_4

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iu khin my in N N T B mn Thit b in

iu khin my in

Nguyn l iu khin vector gin tip

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iu khin my in N N TB mn Thit b in

Gii thiu

Vic o t thng rotor bng cm bin t thng khng thct trong thng mi i hi phng php tnh ton gct thng

e r sl r sl dt dt

Gc t thng c tnh nh sau:

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Gii thiu

S n gin ha

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Gii thiu

Khi tnh wsl, isd c th c dng thay choimrd nu my hat ng vi t thng l hngs (v d, khng field weakening)

isq, isd s c dng trong vng iu khintrong vic so snh vi isq*, isd*.

Nu thng s ca my ng th wsl s chnhxc Rrthay i khi hot ng cnnhn dng Rronline

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B iu khin vector gin tip

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B iu khin vector gin tip

Nu khu field weakening c yu cu, thay th isd*

bng imrd trong khu tnh wsl

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Khu b in p

rd = Loimrd

weLsisd v weLsisq l phnlin kt gia d v q

Bi tp: chng minh cng thc trn

= 1 Lo2/(LrLs)

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Khu b in p

Thng thng,

c dng d iu khin hn, v th phi cng thm mt lngb. Cc gi tr lnh isd v isq c dng, Loimrd thay th cho rd

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Cu hi (1/2)ng c dng thut ton iu khin vector gin tip IRFO

IRFO = Indirect Rotor Flux Orientation

Gi tr ca b trt trong b iu khin l gi tr thc ca my

a/ ng b/ Sai

Gi tr lnh ca b iu khin isq phi ging gi tr thc trong my

a/ ng b/ Sai

Gi tr isq c tnh bi b iu khin t cc gi tr dng gingvi gi tr thc isq trong my

a/ ng b/ Sai

Gi tr iu khin ca tn s kch thch s khng l tn s kchthch tht s trong my

a/ ng b/ Sai

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Cu hi (2/2)ng c dng thut ton iu khin vector gin tip IRFO

Cc gi tr lnh isd* = 4A, isq* = 16A

real l gc t thng thc trong my v con l gc t thng ca b

iu khinNu c mt sai s hng con real = 15o. Vy gi tr thc trong my (isd, isq) s l

a/ (8.09A, 14.3A) b/ (0.173A, -16.48A) c/ (-0.173A, 16.48A)d/ (-8.09A, 14.3A)

Gi tr iu khin ca moment l 80Nm. Gi s rng cc thng s v hng smoment ca b iu khin l chnh xc, gi tr moment thc trong my l

a/ 3.56Nm b/ 80Nm c/ 2.85Nm

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iu khin vector gin tip

*

*sl m r

s

qs r r

L RK

i L

*

e sl r

edt

HB: hysteresis-band

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Thit k b iu khin: vng iu

khin dqXt vng iukhin dq trongh thng iukhin PWM tipp (mu )

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khin dq

B iu khin(cn thit k)

Hm truyn b

bin tn inverterng cB lc

Cn tnh cc thng s ki v ai t c p ng vng kn mong mun

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khin dqI: hng s thi gian ca b bin tn

y l thi gian tr (delay) trc khi in plnh xut hin trn ng vo ng c. Nu tn sng ct l f

s

th c th gi s I

=1/fs

(thi gian1 chu k ly mu)

S: hng s thi gian stator ca ng c S=LS/RS

Thng thng S khong 5-20ms

I khong 100us

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khin dqf: hng s thi gian ca b lcnhiu o lng

B lc chng nhiu anti-aliasing dng vi b

bin i AD. Nu dng c nhiu tn s fs, blc phi c tn s ct cut-off nh hn fs/2

Hng s thi gian stator c gi tr vt tri so vicc hng s khc

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Thit k b iu khin: v dCho h thng:

RS=1, S=10ms. Thit k b iu khin PI c bngthng (tn s t nhin) 300Hz (1900 rad/s) v =0.8(h s tt dn)

Hm truyn vng kn:

Vi v

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Thit k b iu khin: v dCho h thng:

RS=1, S=10ms. Thit k b iu khin PI c bngthng (tn s t nhin) 300Hz (1900 rad/s) v =0.8(h s tt dn)

Hm truyn vng kn:

n gin ha hm truyn

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Thit k b iu khin: cht lng

vng iu khin dng in

Thi gian ln Trise Thi gian xc lp Tset

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khin t thngVng iu khin dng tha imrd

Gi tr thi gian delay

(tr) ca r(100-150ms)ln hn nhiu so viisd(1-3ms)b quavng iu khin dng isd

B iu khin(cn thit k)

Vng iukhin dng isdn gin ha

Khu tnhdng im vir=LR/RR

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khin t thng v dCho r=100ms, bng thngcn thit l 20Hz, =0.8

Phng trnh c tnh:

Ta c phng trnh c tnhca vng iu khin:

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khin tc Vng iu khin tc cu vo l sai lch tc v u ra l gi tr lnh isq*

B iu khin(cn thit k) Vng iu

khin dng isqn gin ha(tng t

vng iukhin isd)

Khi c kh

B lc

J: moment qun tnh

B: h s ma st

B iu khin thng l PIDThng thng thng s b iukhin c xc nh bng cchth v sai (trial and error)

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khin tc - cht lngBng thng cc i b khng chbi:

-Lng moment c sn chngli qun tnh

-Qun tnh ca my

- phn gii ca encoder

Lc u wr=0 (t=0), gi tr lnh wr* dng hm

bc c p vo h thng

Sai s tc ln isq* ln isq b gii hn

Khi wr ln isq gim

Nu ti t nhin c a vo tc gimv isq tng cung cp thm moment

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Cu hing c c cc thng s sau: Ls = 10mH, Rs = 1.2, LR= 80mH, RR= 0.8Tr li cc cu hi lin quan ti thit k b iu khin cho ng c ny

Thng s iu khin ca b iu khin dng dq cho cht lng

vng kn ti bng thng 400Hz, h s m =0.8a/ 350(s+1804)/s b/ 16.5(s+3850)/s

c/ 34(s+0.74)/s d/ 34(s+1857)/s

Thng s iu khin ca b iu khin t thng (u vo l sais ca dng imrd) cho cht lng vng kn ti bng thng 15Hz,

=0.8

a/ 14(s+65)/s b/ 34(s+18570)/s

c/ 6.5(s+137)/s d/ 15(s+59)/s

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Tc ly mu Sample rates

Tn s t nhin ca cc vngiu khin v tm chn laca cc tn s ly mu

SFR Switching Frequency Ratio

SFR = fsamp/fbw

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Tn s ly mu

Ts = 2ms ts = 250us

Cc gi tr lnh isd*, isq*, v wsl cp nht sau mi thi gian Ts

wsl c tch phn mi ts tnh gc rotor

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Tra bng khi tnh sine, cosin

Khi chuyn h qui chiucn phi tnh cc gi trsine, cosin ca gc t thng

Tuy nhin vic tnh tonbng cch thng thngqu chm i vi ng dngrealtime.

Vic tra bng cc gi trsine, cosin s lm gim thi

gian tnh ton.

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Encoder

Encoder c N xung mi vng

Trong khong thi gian tsencoder c N xung

wsl khng i trong thi giants v c tch phn cho rasl

Gc tng mt lng saumi ts

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V d

ng c KB 4 cc, c iu khin bi 1 b iu khin RFOC.

Khi xc lp isq*=15A, isd* (=imrd) =5A.trtrong b iu khin bng 0.2

Vn tc trt ca ng c:

a/ 15 rad/s (in) b/ 15 rad/s (c)

c/ 7.5 rad/s (in) d/ 0.6 rad/s (in)

Nu gi tr thc ca trtrong my l 0.1, sai lch gc t thnggia my v b iu khin ():

a/ 15.3 b/ 30 c/ 11 d/ 7.6

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Bi tpMt ng c hot ng xc lp vi fe=38Hz, in p statorVS=300V, is (pha) = 18A, v h s cng sut 0.86.

Cho

Ls = 0.01,Lo=0.08,Lr=0.085,isd*=6A

ng c c nh hng t thng rotor hay khng?