^ - ^J. 99 ^-Qo
PHirONG PHAP K H 6 N G CHE NHIEU TAI TRONG HE T H 6 N G TRUYEN DONG DIEN PMSM-RFOC
An Anti-load noise Method for PMSM-RFOC Electric Drive Systems
TS. Qudch Dd-c Cirdng', TS. Ddng Xuan Kien^
'Trudng Dgi hgc Cdng nghiep Hd Ndi
^Trudng Dgi hgc GTVT Thdnh phd Hd ChiMinh Tdm tdt: Vdi cdu trite truyin ddng dien PMSM-RFOC tiityin thdng, khd ndng chdng lai nhiiu tdi ciia hi phu thudc nhiiu vdo vdng diiu khiin tdc do. Chinh vi thi rdt nhieu trudng hgp khi thiit id hi thdng cd thi thda mdn chat lugng dgng vd chdt luang dnh nhung chua chdc nd dd thda man yeu cdu chdng nhieu tdi. Trong bdi bdo ndy, vdi muc dich khong che dnh hudng cua nhieu tdi mdt cdch dgc lap md khdng lam dnh hudng tdi ddp img dgng, mdt khdu phdn hdi tdc do se dugc thuc hien ngay trong mgch vdng ddng diin. Di hi thdng md phdng tiim can vdi hi thdng thuc, chiing tdi sd dung Ihu "vien SimPowerSystems cda MATIAB dt SIMULINK, md hinh rdi rac vd kiiu xu ly dit hiu integer. Kit qud dgt dugc cho thdy hiu qud cua phuang phdp dugc di xudt
Tir khda: Dgng ca ddng bg, dieu khiin tua hudng tit Irudng rd tor, md hinh ndi. chdng nhieu.
Abstract: Normally, an antiload noise ability ofthe PMSM-RFOC conventional structure depends alol on the speed control loop. In many cases, the designed system can meet transient qualities and steady errors but Ihe antiload noise ability problem may be not achived requirements. In this paper, the goal of the independent anti noise load control is setting a speed feedback stage in the current- loop without the effect of dynamic responses ofthe system. Using the SimPowerSystems of MATLAB - SIMULINK libraries and discrete models with normalization integer data lo verify proposed method, the simulation results are similar to the response of real system. The achieving resuh demonstrates the performance ofthe proposed method.
Keywords: PMSM. RFOC. EdC, antiload noise.
1. Gidi thifu
PMSM la mpt trong nhirng logi dpng ca dugc Sli dyng pho bien trong cae he thSng truyen dgng dien cong nghiep nhu robot, bang tai, may CNC .. bai PMSM co cong suat cao, mo men quan tinh nho, hieu suat Ion [3] Do do eo rat nhieu cae nghien ciru ve he truyen dpng dien sir dung PMSM vai muc dich tang cuang chat luong dpng va chit lupng tinh, Ngay nay, cae he dilu khiln tic dp PMSM hien d&i deu dupc thuc hien tren cau tnic RFOC ho§c DTC voi hai mach vong dieu khien dong dien va tic do. Do yeu ciu chat lugng dilu khien cua hai vong dilu khien khae nhau nen tin so liy mau eua vong dong dien va vong toe dp cung khac nhau [1- 4] Trong mach vong dong dien, mo men quan tinh dien rat nho, dong thcri yeu cau doi voi dap ling mo men phai nhanh (co vai ms) [4] Do do tan so lay mau ciia mach vong dong dien /, tir 2,5 din 5 kHz [2] Doi voi mach vong toe dp, A^c tinh quan tinh co ciia he Jan ban rat nhieu so voi dac tinh quan tinh
dien. Hon niia t&i vong dilu chinh tdc dg nlu su dung cac thuat tgan nhu Fuzzy, Adaptive, Robust . thi ehu ky thai gjan xii ly se 16n, do do tan so lay mau ciia vong toe do se nho (f^ nho han 1 kHz). Trong he th6ng thyc tin so lay mau/ thuong lan gap mpt so nguyen Ian so voi f^, de thyc hien dong bp hoa qua trinh xir ly [1-2]. Vai cau true RFOC truyin thong, do thanh phan nhilu tai nim ngoai vong dilu ehinh dong dien ding thoi tin so lay miu cua maehvong dong dien Ion hon so voi tan so lay mau ciia mach vong tic do, dan den kha nang ehing Ijii nhilu tai ciia he thong phu thugc hoan toan vao m^eh vong toe do Dieu nay thuc su khong co loi khi thiet kl he thing Trong nghien ciiu nay, chiing toi se thuc hien mot he thing dilu khien tdc dg PMSM-RFOC c6 kha nang ban che nhieu tai theo yeu ciu ma khong anh huong din dap iing toe dp ciia he thong.
Cau tnie ciia bai bao duac trinh bay nhu sau: chiing ta bit diu vai viec mo ta toan hpc doi tuong trong phin 2 Thilt kl mach vong
dong dien de h ^ che nhieu tai dupc mo ta trong phan 3. Phan 4, thiet k l vong dilu khien t6c dp. Phan 5, eai dat he thing mo phong. Ngi dung phin 6 la kit qua mo phong va kit luan dupc trinh bay trong phan 7
2. Mo hinh va cau true he thong Mo hinh toan hgc cua PMSM tren he true tpa do quay d-q duoc t h i hien trong (1), ( 2 ) v a ( 3 ) , [ l - 4 ] .
Phuang trinh dien:
\di^
dao G,(5)"^ nhu trong phuang ttinh (5) va (6)
. . = • ' , R,
' ^,
Phuong trinh mo men dien tir'
r. =!",[»',',+'A('---''.)] P) Phuong trinh co-dien:
Trong do id, lg, Ud va u^ la dong dien va dien ap trSn tryc d va true q cua he toa dp quay d~q. Ld, Lq va Rs la dien cam, dien tro stator. y/p, Os, (J) va rip lan luot la tir thong cue, toe do dong bo, toe do rotor va so doi cue. J, TE va TL la mo men quan tinh ciia he, mo men dien tu va mo men tai. Doi voi PMSM thi w, = n„co.
Hinh 1. Cau triic he thong diiu khiSn PMSM-RFOC 3. Vong dieu khien dong dien 3.1. Bp dieu khiln I M C
Tir (1) dat •i,=u,-<i>,i/r,,. Phuong trinh dong dien viSt l?i nhu sau
IU„{s)'{R,+sL,)Ij{s)-m,LJ^{s)
|(7,(s) = («, +si,)/, W + <»,tA W Dat vector dien ap U = [Uj (s),V, {s)T va I =[Ij(^),I, ( s ) r De dang co duoc ham tmyen dong di?n G,(s) va ham truyen nghich (4)
G.W
.IM-
U ( s ) API
1 [sL., +R, fo,-
Trong do;
AP(s) = LjL^s' +fl, (ij +L^)s+R; +o),%i, Tren Hinh 2 mo ta c ju true IMC can ban ciia he PMSM-RFOC G, ( J) la mo hinh noi, P(s)la bo dieu Idiien IMC. Ma tr|n T = ll,5n^i^[Lj-L^),l,5n^i/'^] va ham truySn vong kin mong muon cua khau dong dien
LM=i,M/i:W- r.M
i \ r { s ] "
vf}<fSr i H55f
L(.)
-^.MW^
Hinh 2. Cdu tnic IMC vdi hi PMSM-RFOC Tir [3-4], ham tmyIn P { 5 ) - L ( 5 ) G , ( 5 ) " ' sao eho Ichi G, (,y)^G,(5) thi ham truyen vong kin eiia khau dong dien se la h{s) •
s + Pi
Vai F 5 - L s G, J "', tii Hinh 2 dilu khien F s duoe xac dinh nhu sau:
FW=[I-L(S)]-'L(.)G,W , Tir (6), (7) va (8) chiing ta co d u o c
\LJ+R,/S -(<i),i,)/sl (7)
F W ' A
{ti>.Lj)/s L^+RJs \
Ham truyen doi tuong dieu khiln cua mach vong toe dg:
^ n / •, '"(•*) (^(s) 45«„u/„/;r
Voi cac he th6ng truyfin dong dien hien dai, thoi gian tac dong nhanh /, cua mach vong dong dien co 1 ms [4], dan d6n hjng s6 thcri gian ciia L s rat nho. De don gian qua trinh khao sat anh huong ciia nhiiu, liic nay
L(s)duoc coi la khau khuSch dai. Tir do co the thay kha nang chong nhilu ciia he khong phu thuoc vao vong dong dien (31 nam ngoai mach vong dong dien). NSu su dung bg PI (Hinh 3) G,{s) = K^-^KJs eho mach vong tdc do thi ham truyen dat doi voi nhilu
Gj (s) = a {s)lT^ (s)trong truong hqrp nay
30s
dang bac hai, ehiing ta co the su dung mot bo dilu khiln PID dl dua ham truyin vong kin ve he thdng bac mot vdi cue xae djnh truac.
Doi voi he bac mot thi thcri gian xac lap / =4/p^, trong do p^ la cue mong muon eiia he th6ng vong kin. Dl ham truyin vong kin eua he thdng c6 dang p.l(s + p.) thi bg dilu khiln PID dugc xac dinh:
»W = /;(>) /.(.)
»(=)
Hinh 5. Cau true truyin thdngaia be PMSM-RFOC
3,2. Cau triic khang nhieu
D I khang nhilu ngay ttong mach vong dong dien, ta thue hien mdt mach phan_hdi toe dd nhu tren Hinh 4 Voi tan so lay mlu/
Ion, kha nang chdng nhieu cua he thdng se phu thudc phan Icrn vao mach vong dong dien. Tir Hinh 4, ham truyin dat ddi voi nhieu nhu sau:
01 (s) 30
Hmh 4. Cau true han che anh huang cua nhieu
Kha nang khang nhieu cua he thong duoc dinh nghia la bien do 1cm nhat ciia lugng thay ddi tdc dd ddng co klii xuat hien mot xung don vi md men tai va ky hieu la Y,
T = l i m G j ( s ) =
TiKf +45n^i//^H^
He sd phan hdi H^ tinh tir T'
(12)
G,„(s) = (14)
4.1. Bo dieu khiln FID cho he thong khdng CO mach vong chong nhieu
Doi vdi he thong thdng thuimg, tir ham truyin ddi tuong (11) va cdng thirc tinh bd dilu khiln PID (14), ta c6 bd dilu khien PID eho vdng dieu chinh tdc dd:
(13)
G ; „ ( S ) = (15)
4.2. Bo dieu khiln FID cho he thong chong nhieu
Ddi vdi he thdng sir dung eau tnie han che nhilu, tir Hinh 4 ham truyen dat ciia ddi tugng vdng tdc dd:
C(^)=-^^ P^^"^
*• ' Js'+(p,J + K^)s + p,K^+45n^<i^^p,H^ n
Ham truyin dat ciia bo dieu khien PID cho vong toe dp'
5G^ {s)
5. Thiet lap he thong mo phong 5.1. Thong so thiet bi
Thong so mo hinh cua PMSM dung trong mo phong dugc cho trong Bang 1.
Bang 1. Thdng sd ddng caPMSM
GU^) = (16)
Khi thiet ke ta se lya chpn H^ sao eho he thong CO T mong muon.
4. Vong dieu khien toe do
Bo dieu khien toe do thong thuong sii dyng bg dilu khien PI ho?ic PID, Neu xet dli tugng G^{s) ciia vong dieu ehinh toe dp c6
Thong so Dien ap DC Toe dp dinh miic M6 men dmh miic Dong dicn dinh miic Dien tro R, Dien cam i j Dien cam L^
Mo men quan tinh J Tir thong cue i/'j.
He so ma sat Kf So cap circ np
G i a t n 300 4250 2.8 5.2 1 6 0-0064 0 0068 0.OOO5 0 1852 0.00006 2
Don VI V ipm Nm A
n
H H Kgm- Wb N.m.s
He tiling su dung biln t i n SVPWM nguon ap lam nguon cap. Mot s6 d&c tinh cua biln tan SVPWM: dien ap DC 340V, tan so bam xung 10 kHz, gia tri Ion nhit eiia dien ap dilu chl V,^^ = 170 V.
5.2. BQ dieu khien dong dien Bg dieu khien dong dien sii dung cau triic IMC tiieo (9). Lya chgn tiiai gian 6n dinh ciia khau dong dien la 1 ms do do cue ciia khau dong dien p, - -4000. Thai gian liy mau cua khau dilu chinh dong dien 200 ps Tir (9) va Bang 1 ta co ham truyin rai rae cuabg IMC'
, , 102r2688z-2560 -0.54<y^z 1
^ ' 2 - l [ 0.5lo}^z 2848z-2720j He so phan hoi toe dp H^ diing trong mach vong khang nhilu dugc tinh boi phuong trinh (17) Chung ta lua chpn kha nang khang nhilu T = 5 rpm/Nm, do do he so phan h l i .ff<y = 0,36
5.3. Bo dieu khien toe do
Vong dieu khien toe do dupc thilt k l co thoi gian qua dg 4 = 0-1 s do do p^ = -40.
Thcri gian lay mau la 1 ms. Tir phuong trinh (15), (16) va Bang 1, bo dieu khiln PID eua vong dieu khien toe do khi khong sii dyng eau tnie hgn che nhieu:
Gj,^(2) = 10 (17) z(z-l)
Khi Sli dung eau tnic han ehe nhieu (vai Y = 5 rpm/Nm).
^H f \ ,„-3l9,llz'-5 65z + 0 94
<^PA')-^^ 7{I^) ^'^^
6. Ket qua mo phong 6.1. Dap vng qua do cua he thong Dpng ca Idiai dpng a che do khong tai (1000 rpm). He thing khong sii dung m^ch vong han chl nhieu. Bg dieu khien toe do sii dung Gl^ (z), Tai ^ = 0.12 s xuit hien tai dot nggt 1 Nm. Dap iing qua do duoc the hien tren Hinh 6
K i t qua cho thay vai bo dieu Glm (2) trong phuong trinh (17), dap iing toe dg (dugng mau xanh. Case 1) syt manh khi xuat hien mo men tai. De giam anh huang ciia nhieu tai, ta tang he so Kp va K, cua bg
dilu khiln G^^ [s) nhu trong Bang 2. M^c dli khi thay dli eae tham so Kp va K, thi kha nang chIng nhilu tai cua he thong tang len, tuy nhien lupng qua dilu chinh ciia he thong cung se Ion Do do viee can chinh eac thong s l ciia bg dilu chinh PID phai dua tren thue nghiem hoac ket hop voi cac ky thuat Fuzzy, Adaptive . moi c6 till dat dupe chat lupng mong muon
Bang 2. Thong so bp PID vd chdt luang he thong K,
K, Kd POSl'A), l^sec) Sut toe (rpm)
Case 1 SSxlO*
4 5 x 1 0 "
9 4x10-' 0 0 0 1 450
Case 2 190x10'' 4 5x10-' 9.4x10-' 9 0 07 80
Case 3 570x10^
4 5 x 1 0 ' 94x10-' 28 0 0 1 8 25 Neu chiing ta su dyng cau tnic han che nhieu vai bo dieu khien G ^ (z) trong phuang trinh (18) ket hop voi khau phan hoi toe dp Hs! ^ 0.36, Ket qua mo phong duoe the hien tren Hinh 7. Lupng qua dilu chinh la 0%, thoi gian qua dp 0.1 s. Do sut toe khi co lupng tai 1 Nm tac dpng dot ngot la 6 rpm.
Hinh 6. Ddp ung khi khdng co khdu han che nhieu
Hinh 7. Ddp ung ciia he thdng vdi khdu han chi nhiiu 6.2. Dap ung dong dien
Dpng ca khoi dpng 6 chl do khong tai, t i c dp dat 400 rpm Tai thoi diem ^ = 0 12 s xuat hien tai do ngot 1 Nm. Dap iing dong dien the hien tren Hinh 8 va Hinh 9.
Tu Hinh 9 ta nhan thiy dap iing dong dien id tiem can 0, lupng sai lech Ion nhit cua Id la 0.015 A. Trong khi do dap iing dong dien /, CO thoi gian qua do 0 001 s va lugng qua dieu chinh 3 % K i t qua mo phong nay
tiem c|n vgi eac yeu eau khi thiet ke.
Hinh 8. Ddp ung dong di?n i„ /t, i„ ij vd i.
^r-
Hinh 9. Ddp ung dong diin ijvd / , 6.3. Kha nang ban che nhieu tai He thong khoi dong a che do khong tai voi bien dg d&t la 100 rpm. Tai thai diem / = 0.17 s xuit hien xung tai 1 Nm. Dap iing ciia he thing vai cac T khac nhau duoc the hien tren Hinh 10.
Hinh 10. Khd ndng hgn che nhiiu Bdng 3. Kel qua mo phong klidng nhieu POS (%)
I, (see) T (rpm/Nm) Y (rpm/Nm) Y (rpm/Nm) Y (rpm/Nm)
Yeu cau 0 0 1 3 10 15 30
Ket qua mo phong 0 0 1
6 10 5
15 26 5 Ket (jua mo phong tren Hinh 10 va Bang 3 chi ra rang hoan toan c6 the khong che miic dg anh huang ciia nhieu tai len he thong ma khong lam anh huong toi chat luang dgng
7. Ket luan
Bai bao da trinh bay mpt eau tnie dieu khiln chat lugrng cag chg he PMSM-RPOC voi cau tnic khang nhieu trong mach vong dong dien va bp dieu khien PID cho m?ich vong toe dp
Vai cau tnic dieu khien nay, chiing ta hoan toan CO the han ehe anh huang ciia nhieu tai len dap iing he thong. Qua do khong che dpc lap cac chi tieu chat luang nhu: ehat lugng dgng, chat luang tinh va kha nang khang nhilu tai ciia he. Ket qua mo phong eho thay vong dilu khien dong dien phan iing nhanh vai nhieu tai, cho phep han ehe anh huang cua nhieu tai, dong thoi luong qua dieu ehinh va thai ^ a n xac l^p ciia he thoa man yeu eau thiet k i a
Tai lieu tham khao
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