Nguyen Phung Quang - Andreas Dittrich

Truyen dong dien thong minh In Idn thifbo cd siia chiia

OAI HOC QUOC GIA HA Npl TRUNG TAM THCNG TIN THL/ VI^N

NHA XUAT BAN KHOA HQC VA KY THUAT HA NOI - 2006

Muc luc

Ldi noi dau

Trang

1 Khai quat cau true cua he truyen dong dien xoay l chieu ba pha dieu khien tua theo tCr thong rotor

1.1 Vector khong gian va he toa do t\i thong 1 1.2 Can true ciia he dieu khien tiia theo tii thong rotor 5 1.3 Tai heu tra ciiu 9

2 Dieu khien nghjch luu theo phudng phap dieu che 11 vector khong gian

2.1 Nguyen ly dieu che 13 2.2 Cach tinh va xuat thdi gian dong ngat ra van 18 2.3 Cac han.che ciia thuat toan 20 2.3.1 Vung CO ich va vung cam cua mat phang vector 20 2.3.2 Tinh dong bo giiJta dieu che dien ap va x\i ly so' heu 22 2.3.3 Anh hUdng ciia thdi gian an toan va phUdng phap bii 23 2.4 Vi du Xing dung 25 2.4.1 Dieu che bang vi dieu khi§n SAB 80C166 27 2.4.2 Dieu che bang vi xU ly tin hieu TMS320C20/C25 30 2.4.3 Dieu che vdi mot cau hinh hai vi xii ly 36 2.5 Cac dang dieu che dac biet ' 0 2.5.1 Dieu che hai nhanh van ^^ 2.5.2 DiS u che dong bo 42 2.6 Tai lieu tra ciiu ^^

3 Mo hinh dong cd phuc vu thiet ke cac khau dieu 45 chinh va khau quan sat

3.1 Khai quat ve phUdng thiic mo ta tren khong gian 45 trang thai

3.1.1 Mo hinh trang thai tren mien thdi gian 45 3.1.2 Mo hinh trang thai gian doan ^ 3.2 Dong Cd di bo rotor long soc (DCDB) 53 3.2.1 Mo hinh trang thai lien tuc cvia DCDB tren he toa do 54

stator CO dinh va he toa do dong bo tur thong

o o o Mo hinh trang thai gian doan cua DCDB 62 QQ Dong cd d6ng bo kich thich vinh cuu ^ . ^ 69 33 1 Mo hinh trang thai lien tuc ciia DCDB tren he toa do 69

dong bo txi thong Mo hinh trang thai gian doan ciia DCDB 72

3 4 ' ' Quy iwc chung cho mo hinh dong ciia ca hai loai 74 dong cd T^i lieu tra ciiu 76

3.3.2 3.4

3.5

4 Cac van de do gia trj thut va tifia hudng theo til 77 thong rotor

4.1 Do dong dien stator 78 4.2 Do toe dp quay 80 4.3 Cac kha nang tinh toe dp quay khong can do 86 4.3.1 Vi du truyen dong diang DCDB khong do toe dp quay 89 4.3.2 Vi du truyen dong dung DCDB khong do toe dp quay 95 4.4 Tua theo til thong va cac van de nay sinh 97 4.4.1 Nguyen tac tinh tii thong rotor ciia truyen dong sii 98

dung DCDB 4.4.2 Xac dinh gia tri ehii dao cho khau DC dong stator 104 4.4.3 Cac van de nay sinh do che dp lam viee gian doan 105

ciia he thong dieu chinh 4.5 Tai lieu tra ciiu 109

5 Ap dat nhanh momen quay tren cd sd dieu chinh 113 dong stator

5.1 Khai quat ve cac phUdng phap dieu chinh dong da 114 d\jl(ic sijt dung

5.2 Dieu kien bien he thong, ham truyen dat muc tieu 125 va ham dat ciia khau dieu chinh

5.3 Thiet ke khau DC vector dong stator c6 toe dp dap 129 ling hiiu han

5.3.1 Thiet ke khau DC c6 toe dp dap ling tiic thdi (Dead- 130 Beat Response) khi do tijtc thdi gia tri thUc dong stator

5.3.2 Thiet ke khau DC c6 toe dp dap ijtng tiic thdi (Dead- 134 Beat Response) khi do tich phan gia tri thUc dong stator

Thiet ke khau DC c6 toe dp dap ling hutu han (Finite 136 Response Time) Thiet ke khau DC trang thai vector dong stator c6 137 toe dp dap ijtng hQu han Ma tran hoi tiep trang thai K 138

KK ^ f ^^^^ l^c d^u vao V 140 Xu ly khi dien ap stator di vao gidi han 142

5.3.3

5.4

5.4.1

5.5

II

Sach lUdc qu.v d6i gidi han module ciia vector dien an sang cac thanh phan • ^

163 166

5.5.1 145

5.5.2 Sach ludc hieu chinh ngU(?c kh, da g,d, han dien ap 15, OD 1 ai heu tra ciiu ^ ^^'

153

6 S ? 5 ! u ? ' ^ ^^^""^ " ^ P'''*'"9 P^^P ' »hap tham 157 so he thong '''

6.1 Sd do thay the vdi tham so hiing , co 6.1.1 Sd d6 thay the'cua may dien di bo rotor l6ng soc 158 6.1.1.1 Sd do thay the dang cha T lH 6.1.1.2 Sd do thay the dang chii Hdao \an 6.1.1.3 Sd do thay the'dang chiiH Jg" 6.1.2 Sd do thay the ciia may dien dong bo 162 6.2 Mo hinh hoa cac phan tii phi tuyen cua may dien di 162

bo rotor long soc 6.2.1 T o n h a o s M t i l 6.2.2 Hieu ling da n dong va da n tiit thong 6.2.3 Hien tUdng ba o hoa s^t t\X 170 6.2.4 Cac tham so qua do I75 6.3 Tinh toan tham so' tii nha n dong cd 176 6.3.1 Tinh tham so' khi biet cos(p doi vdi DCDB 177 6.3.2 Tinh tham so' khi khong biet cos(p do'i vdi DCDB 180 6.3.3 Tinh tham so doi vdi DCDB 181 6.4 Nhan dang tham so DCDB khi dong cd diing im 182 6.4.1 Mddau 182 6.4.2 Dac tinh dong - ap cua nghich lUu, dien trci stator va 184

dien cam tan qua do 6.4.3 Nhan dang dien cam va dien trci rotor b^ng phUdng 186

phap dac tinh tan so' 6.4.3.1 Cd sd ly thuyet va ling dung de nhan dang dien trci 186

rotor, dien cam tan 6.4.3.2 Chon toi Uu t i n so kich thich tren cd sd phUdng phap 189

ham nhay 6.4.3.3 Dac diem ciia nhan dang dien cam chinh (ho cam) va 191

dUdng dac tinh tii hoa 6.4.4 Nhan dang dien cam stator b^ng dong mot chieu l^^ 6.5 Tai li?u tra ciiu

194

7 Thich nghi true tuyen hSng s6'thdi gian rotor cua 197 dpngcddjbo ^ ^

7.1 D^t van de 203 7.2 H$ thong h6a cac phUdng phap thich nghi 7.3 Thich nghi di^n trd rotor theo phudng phap mo hmh 7.3.1 Khau quan sat va dong hpc he thong 7.3.2 Mo hinh sai so

207 208 211

III

7.3.2.1 Mo hinh dien ap stator 211 7.3.2.2 Mo hinh cong suat 214 7.3.3 Dp nhay tham so' 216 7.3.4 Anh hUdng ciia ton hao s i t tuf 220 7.3.5 Thich nghi d che dp xac lap va che dp dong 222 7.4 Tai lieu tra eiiu 226

8 Dieu khien toi UU trang thai cua he thong truyen 229 dong dien dj bo

8.1 Dktvande , ^ , , . ^^^ 8.2 Sach lUdc dieu khien to'i Uu hieu suat (toi Uu ton 230

hao) 8.3 Sach lUdc dieu khien to'i Uu momen quay 233 8.3.1 Dai to'c dp danh dinh 233 8.3.2 Dai to'c dp cd suy giam tir thong phia cao 237 8.3.3 Dai toe dp CO suy giam tii thong phia thap 241 8.3.4 Luat dieu khien chung cho che do can xac lap 244 8.3.5 Dong hpc momen khi nghich luu md hoan toan 247 8.4 So sanh cac sach lUdc toi Uu 251 8.5 Dieu chinh tii thong rotor 254 8.6 Tai lieu tra ciiu 257

9 Phu luc 259 9.1 Chuan hoa - Budc chuan hi lap trinh quan trong 259 9.2 Vi du minh hoa gian doan hoa mo hinh d muc 3.1.2 262 9.3 Ve van de ling dung phUdng phap hinh phUdng sai 264

phan be nhat 9.4 Doi ldi ket thiic 9.5 Tai lieu tra ciiu 267

273

10 KyhieuvachurvieVtat 10.1 Kyhieu

275 275

Danh muc tCrtra ciiu

10.2 Cac chii viet tat 277

IV