KHOA HOC-CdNGNGHl
-So 12/2015
Nang cao chat Ivfgfng dieu khien dong ctf
khong dong bo rotor long sdc tren ctf scf mof trtftft
• TS. DAO QUANG THUY Bd Khoa hgc va Cdng nghg
Tom t^t: Bdi bdo t$p trung nghidn edu thiit ki b^ dHu khiin d^ng cd khdng ddng b^ rotor ling sdc theo phuang phdp diiu khiin md trtftft trdn cd sd ki thda md hinh dii tUtfng dgng cd khdng ddng bd td mdt si cdng trinh da nghien edu trddc dd [4]. Qua kit qui md phdng se so sdnh vd nhdn dinh qua cdc chl tidu ky thugt di ddnh gii khi ndng uu vift cda phddng phip diiu khiin md trdtft so vdi phuang phip diiu khiin PID.
TCr khoa: D^ng cd khdng ding bi rotor ling sdc.
Abstract: Article concentrates in researching design of motor controller asynchronous squirrel-cage rotor using Sliding fuzzy control methods of which results has evaluated by previous researches on model of object asynchronous motor rotor cage [4]. Base on teehincal criteria, stimulated results Is used to evaluate avantages of Sliding fuzzy control methods In comparision with PID controlling method.
Keywords: Asynchronous motor rotor cage.
1. Ddt van dd
Dflng CO khdng ddng bd ba pha cd nhieu du dilm nhd gii thinh r i , phii hop vdi mgng Iddi difln cug Viflt Nam ndn ddOc sd dyng rdngril trong hfl thdng truyen ddng difln, tuy nhien vin cdn cd nhdoe didm l i ehdt luong dl^u khidn eCia he thdng vin cdn bj inh hddng bdi sd thay ddi bidn thidn tham sd ddng cd nhd md-men quin tinh J, dien trd Rr. Dd giii quydt v i n dd nay, trong bii bio, tie gii sd dyng bd didu khien md dd diflu khidn tde dd dflng CO DCKDB 3 pha nhim ning cao chdt IdOng diflu khidn. , ^
Diiu khiln md l i mflt ITnh vdc diflu khien ky thuit mdi, cd nhiflm vy chuydn giao nguyfln tie xd ly thdng tin didu khiln ciia hfl sinh hpc sang hfl ky thuit. Dilu khiln md ddOc phit triln ri't mgnh me td nhdng nim 1990 v i da dem Igi nhidu thinh tyu bdt ngd trong ITnh vdc dilu khiln. Uu dilm eo bin cua didu khiln md so vdi cic phuong phip didu khidn kinh diln l i cd thd tdng hop ddOe bd
didu khien m i khflng ein biflt trddc die tinh eCia ddi tdOng mdt cich chfnh xic. Didu khien md ehi can xd ly thdng tin "khdng chinh xie" hay khdng diy du, nhdng thdng tin m i sy ehfnh xae eCia nd chl nhgn thdy duoe gida eie quan hfl eiia ehung vdi nhau v i cung eh? ed the md t i bang ngdn ngd, da cd t h i cho ra nhdng quydt dinh ehfnh xic.
2. Thiet kd bd didu khiln md trdot Xet mfl hlnh dd'i tdOng ddng eO KDBBP rotor Idng sdc sddyng bfl didu khl^n PID nhis Hinh 2.1, cic tham sd ddng eo v i eo cau chip hinh ddOc liy td eie edng trinh [1], [2], [3], [4], cd dgng sOdd eiu tnic dilu khidn nhu sau:
Hinh 2.1 :B^ PID si 2 2.1. Sddi khii md
Bd md CO bin ta se thifl't ke bao g6m ba bidn trgng thii md dau vao v i mdt bidn md d i u ra. Mdi bidn nay Igl duoe chia thinh nhilu gia tn tip md (tap md con). S6 gia tri md trfln moi bidn duoe clion de phii hd't cic khi ning ein thiet sao cho khi nang didu khiln la ldn nhit trong khi chi can mdt sd tdi thilu eie luat dilu khiln md.
Hlnh 2.2: Biin vdo ra cda khil md 2.2. Dinh nghTa t$p md
- Dinh nghTa eie bidn ngdn ngd vao ra: Bidn ngdn ngd vio t i tfn hieu didu khien ciia bfl didu khiln md ey t h i l i IdOng sai Ifleh didn i p dieu khiln e, de v i s.
Bien ngdn ngd ra l i dgi IdOng tic dong trde tidp hay glin tidp Idn ddi tdOng d diy bien ngon ngd ra l i difln ap dilu khiln U.
- Xac djnh miln gii trj vgt ly cua eie bidn 85
KHOA Hpc-CONG NGHl
ngfln ngd vio ra: Mien gia trj v i t ly phii bao him hit cic khi ning gia tn m i bidn ngdn ngd vio ra cd t h i nhin, ta chon:
e = [-150; 150] (V) de = [-500; 500 ] (Vs) s = [-500; 500]
u = [-17.3; 17.3] (V)
- Sd IdOng tap md: Sd lddng tip md thddng dgi dien cho sd trgng thai eua bidn ngfln ngd vio ra, thddng nim trong khoing 3 den 9 gia tri. Ndu sd luong gii tri ft hon 3 thi khdng thdc hien dddc vi viflc liy vi phan, neu nhieu hon thi con ngudi khd ed kha ning bao quit, vi phil nghifln cdu diy du dd dong thdi phan biflt khoang 5 ddn 9 phddng i n khic nhau va ed khi ning Idu trd trong thdi gian ngin.
- Xic djnh dgng ham lifln thudc: Day fa giai dogn rdt quan trong vi cac q u i trinh lim viflc ciia bo dilu khiln md phy thude rat nhieu vao ding ciia him lifln thudc. Mie du khdng ed mdt chuan myc nio cho viflc Ida chon nhdng thdng thddng ed t h i chon him lidn thuflc cd dgng hinh hoc don glin nhd hlnh thang, hinh tam giic... Cac him lifln thudc phil ed miln phii ldn nhau, ddng thdi hop eua cic miln lifln thude phil phu kin mien gii tr;
vit ly d l trong qui trinh didu khidn khdng xuat hifln cic "Id trdng". Ta chpn cae ham lidn thudc hinh tam giic.
f^
^1
X
gg^gl
» - ™ " J
^ A
^ ~ i
Hinh 2.3: Ham lidn thuge cua sai igch d
Hmh 2.4: Hdm lien thuge eua sai l$ch e
Hinh 2.5: Hdm lien thuic cua s
ffinh Z6: Ham lidn thuic cua u
- ROi rge hda tap md: Do phan giii cda cac d i i tn phy thudc ddOe chon trddc hoic l i cho cac^
nhdm dieu khiln md logi dau phay ddng (cac so""
duoc bidu diln dddi dgng dau phly ddng cd dfl ehinh xie ddn) hoae nguydn ngan (gii tn | ^ thudc la cic sd nguydn cd do phy thudc l i cac stf cd dd d i i 2 byte hoac theo byte). Phddng phip rdi rgc hda se la ydu td quydt djnh dd chfnh xac va tdc do bfl didu khien.
2.3. Xdy dtfng de lu$t dieu khiin Cac luat didu khiln dddc bieu difln dddi dgng mflnh d l IF... THEN... C i c lugt dilu khiln niy duoc xay ddng theo 2 nguydn tae theo Hinh Z7 nhd sau: Sai idch cing Idn thi t i c dflng dieu khiln cing Idn. Tfeh phan sai Idch cing Idn thi tic dflng didu khiln cing Idn.
Hinh 2.7: Cic ludt didu khiin 2.4. Chgn lugt htfp thdnh
Td t i p cic luat dilu khidn ta cd tfid dung cic luat hop thanh Max-Min, Max-Prod hay cic luat hop thinh khac de tim him Hfln thudc hop thinh eiia t i p md dau ra. 6 diy, ta chon liiit hop thinh Max-MIn, ta cd kdt q u i nhd Hinh 2.8.
Hinh 2.8: Cde lugt htfp thanh dgng hinh hgc
ffinh 2.9: Quan hg vao ra cua titf dieu khiaimd 86
KHOA HOC-CdNGNGHl 2.5. GUI md
Td him lifln thude hop thinh cua t i p md dau ra, ta cd thd dung phddng phip giii md thfch hop de xac djnh rd dau ra ciia bd giii md. Phddng phip giii md ddOc chon eung gay inh hddng ddn dd phdc tgp v i trgng thai lim viflc cda toin bd he thdng. Thddng trong thidt kd hfl thdng didu khien md, giai md bang phddng phip trong t i m hay trung binh i m cd nhilu du dilm hon e i , vl liie do kit qui d i u ra cd sd tham gia dly du ciia ti't ca cic lugt dilu khidn. 0 diy, giii md bang phddng phip trong t i m , ta ed k i t qui hop thanh v i giai md nhd Hinh 2.9.
3. Cdu true bQ dieu khien md trddt Cdu tnic bd dieu khien md trdOt bang SImulink ddOc md t i theo Hlnh 3.1 dddi diy:
Hinh 3.1: Stf dd khoi eua bg didu khiin md trUtft vd PID b^ng SImulink
Vdi md hinh v i cich thiet lip nhd trdn ta thu ddOc kdt qui md phdng sau:
Hinh 3.2: Ddp dng tie d0 d^ng cd sd dgng bd didu khiin md trdtft vd PID
Hinh 3.3: Dign dp diiu khiin cda b^ diiu khiin md trdtft
So 12/2015 Nhin vio ket qui md phdng Hinh 3.2 ta ed t h i thay thdi gian dip dng v i I n djnh tdc do cua dflng CO eCia bd dieu khien md triiot khi tin hidu dgt la CO = 150 (rad/s) hay n = 1430 (vdng/phut)Ji khoing 1,4s nhanh hon 0,2s so vdi bd didu khiln PID [4], bd dieu khiln md trdOt khdng cd dd qua didu chfnli nhd bd dilu khien PID v i ddng difln 1 = 24A nhd hdn IOA so vdi bfl dieu khien PID (Hinh 3.4).
4. Kdt ludn
Bai bio d i thifl't lip ddOC cic bddc thidt kd bd dieu khiln md trUOt ddng eo khdng ding bd ba pha rotor long sdc d l td dd so sinh vdi dip dng eua bfl dIeu khiln PID cdng trinh [4]. Ddng thdi, qua dd danh gii dddc nhdng uu diem cda bd didu khiln md trdOt so vdi bd PID, ey t h i da dinh gii ddOe cha't IdOng cua bg dilu khiln md truot v i so sinh vdi bd didu khien PID, trong qui trinh dilu khiln dflng co thi ddng dilu khiln 1^ nhd hon ddng dilu khien diing bfl dilu khiln PID •
Tai liflu tham khio
[1]. Nguyin Vin Dgt, Vu Td Khoa (2006), Nghidn cdu phddng phdp md ti ddng cd khdng ddng bd ba pha trdn hd toa dd ttfa theo td trudng rotor, tgp IV, sd 2, Tgp chf KHKT Ndng nghidp.
[2]. Nguyfln Lfl Hoing (2012), Ong dung MA TLAB & SIMULINK de md phdng ddng co khong ddng bd ba pha theo phddng phip dieu khiin vector vdi bd didu khien PID, T i p san Thflng tin Khoa hgc
& Giao dye, sd 6, Tgp ehf Dgi hpc Ddng A.
[3]. Cd Tuan Anh (2015), Ndng cao chd't lddng didu khiin d0ng cd khdng dong bd rotor ldng sdc tren cd sd md trdtft, Luin van Thge sy ky thuit.
[4]. Dio Quang Thiiy (2015), Tinh toan va thiit ki bd dieu khiin ddng cd khdng ddng bd rotor ling sdc bing thu$t toin PID, Tgp ehf GTVT, sd thing 10/2015.
[5]. Phan Xuan Minh, Nguyin Doan Phddc (2002), Ly thuyit diSu khiin md, NXB. Khoc hgc v i Ky thuit.
[6]. Nguyfln Doin Phddc, Phan Xuin Minh, Han Thinh Trung (2006), Ly thuyit diSu khien phi tuyin, NXB. Khoc hgc va Ky thuit.
Ngay nhgn b i l : 3/11/2015 Ngiy chdp n h i n d i n g : 26/11/2015 Ngddi phin bifln: TS. Ngd Mgnh Tien
TS. Dinh Anh Tudn
Hinh 3.4: Ddng di$n Isd dieu khien bing bd md trdtft vd PID
87
