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Tuyen tap bao cao khoa hgc Hdi nghi Khoa hpc ky thuat Do ludng toan qud'c lan thfl IV Hd Ndi, II - 2005 JONG HOP BO DIEU KHIEN THICH NGHI TUT THONG ROTOR DONG CO XOAY CHIEU BA PHA Q N G DUNG LOGIC MO Duong Qudc Tudn, Nguyen Tdng Cudng Hgc vien ky thugt qudn si/ Tdm tdt: Bdi bdo gidi thieu ke't qud nghien cifu mdt pliUaiig phdp mdi dn dinh td thdng rotor dgng ca khdng ddng hg pha diiu khien vec ta Dd Id thudt todn hien chinh thich nghi tren cO sd ket hgp thudt todn ldi ifu vd thudl todn diiu khien md Ke't qud khdng dinh bd dieu khien tdng ho}) theo ihugi todn cd khd ndng thich nghi vdi sif thay ddi llunn sdmd hinh vd bd't bie'n vdi tdc dgng nhieu Abstract: The paper presents the research results of constructing adaptive algorithm for regulation Rotor Flux of AC Motor with vector contiol The adaptive tontrol algorithm based on the using combinadon of opUinal and fuzzy control approoat hs The paper also describers simulative results on PC in Matlab-Simulink enviroment foi adaptive control algorithm, and these results emphasis the right method of syiilliesising the Rotor Flux control channel I DAT VAN DE Che dn djnh tfl thdng la che' dd lam vific co ban cua dgng co khdng ddng bd ba pha vdi bd didu khidn vec to td'c dfi ddng co nhd hon td'c djnh mflc Do dn dinh tfl thdng rotor cd y nghTa nang cao cha't lugng bd didu khidn vec to Trong [21, tac gia sfl dung bd difiu khidn PID de dn dinh tfl thdng rotor Dd khfl anh hudng tac ddng cua ddng /^^ len tfl thdng rotor, tac gia [2] dua giai phap thie't ke' mach bu nhifiu ddng i,^ Thuat todn ddi hdi phai nhan dang dugc chinh xac md hinh kfinh tfl thfing, nhifiu ddng momen va cdc tham sd ddng co Mdt phuong phap mdi cho phep didu khidn ma khdng phai nhiin dang chfnh xdc md hinh ddi tugng, dd la Ihuat loan didu khidn md Bd didu khien md se bii trfl dugc anh hudng cua cac bidn gay nhifiu va sfl bifi'n ddi tham sd dfing co tdi dd dn dinh tfl thdng rotor ma khdng can phai nhdn dang chung Dd la kha nang thich nghi cua bd didu khidn md II X A Y D U N G L U A T D I E U K H I E N T H I C H N G H I M TlTTHONG ROTOR Md ta dfing hgc cua kenh didu chinh tfl thdng ddng co khdng ddng bd ba pha (KDBBP) he toa dd quay tua tfl thdng rotor (d,q) [2] dt ~ T, ''"^ dt "" (Ij T/'' L, dl 708 (V|/^ - Tfl thdng rdtor; i^^ - Thanh phdn ddng sinh tfl thdng; M^.^ - Thanh phan difin dp kfinh tfl thdng; L^- Difin cam tfl hod; Z,^^- difin cam tuong duong; /,,.- Difin cam rdtor, Rg ~ Difin trd Stator) Lugng_/(5^=Q L^^/ coi la nhifiu cua ddng momen tac ddng lfin kenh didu chinh tfl thdng Ngoai tac dfing nhifiu, tfl thdng rotor cdn bi anh hudng ciia cac tham ?.6 dgng co bifi'n ddi nhu Lm, Lr, Rr, Rs Bai toan d$t r a : Xac dinh va thuc hifin ludt didu khien u vdi muc tifiu gifl tfl thdng \^ y = cont Phuong phap: Sfl dung bd difiu khidn md hieu chinh thich nghi Iicm cdn td'i uu trfin co sd ke't hgp thuat todn didu khidn td'i uu va thuat todn didu khidn md Khoi mfl hoa dau vao Hai dai lugng dugc md hod la sai lech tfl thdng rotor (e = 4^r- H'ro ) va dao ham ciia sai Ifich tfl thdng ( e = del dt)- Ham lifin thugc chgn dang ham Gauss Mfii bifi'n vat Iy ro dflgc md hod vdi mflc ngdn ngu ( bifi'n md) la : NM (dm nhidu); NS(dm ft); ZE (khfing); PS (duong It); PM (duong nhidu) Dfi phu thufic (dfi cao) cila mdi bifi'n md vao bifi'n vat ly e (e 1) va e (e2) tai thdi didm t ky hieu tucmg flng Id /f (e^) va ^ • ( e , ) (j -Chi so bifi'n ' -^z -^2 " md; j = - ) Khd'i hgjj thdnh md Tai thdi diem t, khdi hgp md thuc bifin luat hgp cua 25 ludt didu khie'n, dd ludt dieu khidn thfl r ( r= - 25 ) phdt bidu dudi dang : R'(u): Ne'u ( e Id A / ' ) va ( e la A^J ) thi (u la ^ " ) Khd'i gidi md Ham lifin thufic bifi'n md ddu B-'" chgn ham Singleton Chgn phuong phdp giai md theo cao Sau giai md, tin hifiu dieu khidn u tai thdi die'm t flng vdi cap gia tri phdn cua vec to ddu vao ( e , e ) , dugc tfnh theo cdng thflc [1]25 r *?/./(^*) m\ [m] (2) ^[A "./(^^^ Trong dtf M^ li diiu khien dau irng vtfi luat thir;'; ^ (e,) la dp phu thutfc ciia cic bie'n mtf theo gid tri bie'n vat ly vao e^, tai thtfi diem t; k la chi stf bie'n vat ly d^u vao (k=l ,2); ']= — la stf bie'n mtf cua mtfi gia tri vat ly ro d^u vao Vec to ^(j) vtfi 25 phSn : §(e) = [ ^ ' ( e ) , ^ ^ ( e ) - ^ " ( e ) f (3) Trong dtf mtfi ph^n "^{e) ctf gia tri: n i'.A^k) e{e)=^-^ Z ,n,fJ^i:) (J='-5) 709 (4) x'=[x'.X\ X''\ = [u, u, U2sY (5) + ^(e) phu thudc vao khoang xdc djnh gid tri bie'n vao, ham lifin thudc, ludt hop -t- X dugc ggi la vec to he sd thich nghi; X dugc tdng hgp cd kha nang tu chinh theo dd'i tugng Cho mdt gia Irj u" nao dd, ta cd thd thuc hifin hifiu chinh X dd u tiem can tdi u* Ne'u u" la didu khidn tdi uu, la cd thuat toan thi'ch nghi md tiem cdn tfi'i uu Vdi V oi mdt mgi ddi uoi tugng dgng hgc mgt ddu vao va mgt ddu dang tdng quat: „{x)u i=l-n fh.dj+gM (6) X =[X|, x, x J - Vec to trang thai; u: Dai Iugng difiu khidn; 5: Tac ddng nhifiu / , g„: Ham phi tuyfi'n theo x va S; y: Bifi'n didu khifi'n ddu la vj trf gdc dfi'i tucmg Theo [3], luat bieu chinh thfch nghi mdtiem can td'i uu cd dang: X=-,^(eJi,(ej'-lM,Jx) vtfi dx„ ^-l^gjx_)*0 (7) ox„ dp dung thuat todn (7) cho md hinh ddi tugng (1) Chgn dai lugng didu khifin la u^^; Bie'n trang thai la ddng i^j va Ifl thdng rotor x ^ Nhan dang kfinh tfl thdng don gian vdi vific bd qua phdn tac dfing nhifiu va phan hdi Dat be sd cac phuong trinh cua hfi (1) «,=y/r, , h, = L„/T, : b, = RJL„^ a, = L,„tL,L„^: c, = IIL^^ , Chon 4'(e) = e + a e Luat didu khidn tifim can td'i uu u* dugc thuc hifin bdng thudt toan hifiu chinh thich nghi md ti'nh theo (7): i = yac^b^ {e + a e)^(e) = ya{e 4- a e)^(e) (8) y , a la cdc be sd duong hieu chinh bd didu khidn md Cac hdng sd c,, b, nhdp vao y , a ^(e) xac dinh theo (4); dai lugng didu khien ddu bd md xdc djnb theo (2) Theo (2), (4), (8), ta xay dung dugc md hinh md phdng thuat todn bd didu khidn thfch nghi md nhu hinh III KET QUA NGHIEN CUU MO PHONG THUC NGHIEM Nghien cflu mfi phdng thflc nghifim dugc thuc hifin nhdm xem xet tinh thi'ch nghi ciia bd didu khifi'n dn djnh tfl thdng tdng hgp theo thudt todn da xay dung d tren d cac mat: - Kha nang dn djnh tfl thdng thich nghi vdi nhifiu - Kha nang dn djnh tfl thdng thich nghi vdi cdc tham sd cua md hinh ddi tugng - Kha nang dn djnh tfl thdng cd'u true md hinh thay ddi, sfl dung bifi'n tdn ngudn ddng BTi vd bie'n tdn ngudn dp BTu dp dung thudt toan da nghien cflu, tien hanh tdng hgp bfi dn dinh tfl thdng thfch nghi cho ddng co KDBBP nhan hifiu Afl 4A 100L4y3 cd cdc tham sd: Cdng sud't P= KW; U=220V; TI=0,78; cos(p=0,75; Idm = 10 (A);/=50 hz; sd pha:3 L^ = 0,1958 (H); L, = 0,202(H); L = 0,2065;Lo, = 0,0062(H); L^, =0,0107 (H); R , = 1,275 dm; R, = 1,663; (Om); ^ ^ „ = l , V f i b e Cdc tham sd tfnh loan: U , = 0,0163 (H); T, = Lj./R^ = 0,121 (sec); T, = L ^ R , = 0,162(sec); L J L = , 9 ; Udm = 5,46 A; 1,^^^=12,76 A Chgn ^ =1,0 Vebe; Khoang xac djnh cua e e [-0,05; 0,051; e e [-5,5; 5,5| 710 I>J|1 hlOuS kh GD—i t^oh •1 Ouil Out2 Int0ui5 0ut4 Oui5 e2 Kh » •^ "•"•'• ^1 Hinh Md hinh thudt toan bp dieu khien md Ihich nghi Khfi'i md boa xac dinh cao cua cac bien md Ham lien thudc ciia khdi md boa nhu hinh Cac khdi cdn lai thuc hifin cdc thuat loan theo thfl tu (4), (7), (2) Ctt -ott ^« OE: D H:: ]OI oot CLE Hinh Ham lien thuoc ciia e 4, va e T Ghep bd didu khidn md vdi ddi tugng ddng hoc la kenh didu khidn tfl thdng vdi hai md hinh nhdn dang: Trudng hgp 1: Ham sd truydn la khdu quan tfnh (bie'n tan nguon ddng) hinh Trudng hgp 2: Ham sd truyfin la hai khau qudn ti'nh (bifi'n tan ngudn ap) cd phan hdi ndi bd theo td'c dd tfl thdng vd nhifiu ddng md men hinh Hinh Md hlnh kenh dieu khien thich nghi tfl thong bie'n tan nguon dong a -CM &^:> |-»|«3-*co Translerfcnl TratistoFcn Hinh Md hinh kenh dieu khien thich nghi tfl thong bie'n tan nguon ap 3.1 Ket qua mo phong Bg dieu khien thich nghi tfl thong rotor vdl Bti I ,, \ci-3 S ••• ••]•••[• K |\Y=IOO • • i 1.- [ ; , !- j o; \y-5Q ^~ • - • : • — T - - : - - f - '.[ : i i L [ , , .; : " Thei gian(s) OS IS ; ; Thei gian(s) Hinh Dap flng tfl thong rotor dieu chinh a, y 712 :' ; • i Tr3
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