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MC LC
TI : NG C NG B NAM CHM VNH CU (IPMSM) ................ 2
I. Gii thiu ng c cc phng php iu khin, ng dng................................... 3
1.Khi nim v cu to ........................................................................................... 3
2.Phn loi .............................................................................................................. 3
3.Nguyn l hot ng ........................................................................................... 5
4.ng dng ............................................................................................................. 5
II.H phng trnh c bn ca ng ng b nam chm chm ............................... 6
1.t vn ........................................................................................................... 6
2.Cc h phng trnh c bn ca ng c ........................................................... 6
3.M hnh ng c trong h ta ta t thng rotor .......................................... 9
III. Chin lc iu khin ........................................................................................11
1.Phng php iu khin FOC ...........................................................................11
2.Phng php iu khin MTPA .......................................................................12
IV. Tng hp h thng iu khin ng c nam chm chm ta theo t thng rotor
..................................................................................................................................14
1.Tng hp b iu khin dng in ...................................................................14
2.Tng hp mch vng iu chnh tc ............................................................17
V.M phng trong matlab ........................................................................................19
1.Trng hp iu khin di tc c bn ......................................................19
2.Trng hp trn tc c bn ..........................................................................21
VI. Ti liu tham kho .............................................................................................24


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TI : NG C NG B NAM CHM VNH CU (IPMSM)
Thng s ng c: Cho ng c ng b IPM vi cc thng s sau:
Udm=50V, n
m
=1200rpm ,J=0.4e-3 kg.m
2
,I
m
=8.66,s i cc p
c
=2 ,R
s
=0.57,

f
=0.108Wb, L
sd
=8.7mH, L
sq
=22.8mH
YU CU:
- Thuyt minh nguyn l lm vic ca h truyn ng iu khin bng phng php
vector
- M hnh ha h truyn ng bng phng php hm truyn
- Xy dng cu hnh h iu khin vi mch dng in v tc
M phng h iu khin bng phng php iu khin PID dng m hnh hm
truyn
Ly cc c tnh iu khin (tc , dng in) vng di tc c bn v vng
iu khin gim t thng (trn tc c bn )

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I. Gii thiu ng c cc phng php iu khin, ng dng
1.Khi nim v cu to
ng c ng b l ng c xoay chiu c tc quay ca rotor bng tc
quay ca t trng. ch xc lp ng ng c in c tc quay ca rotor
lun khng i khi ti thay i ty thuc vo tn s ngun v s i cc ca ng
c
ng c ng b ni chung , ng c ng b nam chm vnh cu ni ring l
nhng my in xoay chiu gm c 2 phn stator v rotor , phn cm t rotor
v phn ng t stator. Vi ng c ng b nam chm vnh cu th phn cm
ng c kch thch bng nhng phm nam chm b tr trn b mt hoc di b
mt rotor. Cc thanh nam chm c lm bng t him v d nh Samariu-cobalt
(SmCO
5
, SmCO
7
) hoc Neodymium-iron-boron (NdFeB) , l cc nam chm c
nng sut nng lng cao v trnh c kh t, thng c gn trn b mt hoc
bn trong li thp rotor t c bn c kh cao, nht l khi tc lm vic
cao th khe h gia cc nam chm c th p bng vt liu t sau bc bng vt
liu c bn cao , v d nh si thy tinh hoc bt bu lng vt ln cc thanh nam
chm. Ngoi ra cn c nam chm gm bn cao
2.Phn loi








PMAC machines
Trapezoidal type
(BLDCM)
Sinusoidal type
(PMSM)
Surface magnets
type(SPM)
Interior magnets type
(IPM)
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Da vo loi sc phn in ng trn stator ng c ng b xoay chiu ba
pha(PMAC) c th chia lm 2 loi dng hnh sin (PMSM) v dng hnh thang
(BLDC)
Loi Trapezoidal PMAC cn c gi l ng c mt chiu khng chi than
(BLDC). im khc bit c bn so vi nhng ng c ng b khc l sc phn
in ng (back-EMF) ca ng c c dng hnh thang do cu trc dy qun tp
trung (cc loi khc c dng hnh sin do cu trc dy qun phn tn). Dng sng
sc phn in ng hnh thang khin cho ng c BLDC c c tnh c ging
ng c mt chiu, mt cng sut, kh nng sinh mmen cao, hiu sut cao.
Da vo v tr nam chm trong rotor ngi ta phn Sinusoidal PMAC thnh 2 loi
ng c ng b nam chm b mt (SPMSM) v ng c ng b nam chm chm
(IPMSM)
Hnh 1: Cu trc ng c SPM v IPM

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Hnh 2 : Khc vi ng c SPM, ng c IPM c in cm dc trc v ngang trc
khc nhau
ng c SPM thng thng c nam chm c gn trn b mt rotor. ng c
IPM c nam chm c gn chm bn trong rotor dn ti s khc bit gia in
cm dc trc v in cm ngang trc . c tnh ny khin ng c IPM c kh
nng sinh mmen rt cao. Mt khc ng c IPM c phn ng phn ng mnh, dn
ti kh nng gim t thng mnh, cho php nng cao vng iu chnh tc
3.Nguyn l hot ng
in p t ln stator l in p ba pha c th cp t bin tn hoc t li dn
n xut hin dng ba pha trn stator. Nam chm vnh cu to ra t thng khe h
khng kh,t thng ny tc ng vi dng in stator to ra momen ko rotor quay
. ch xc lp tc rotor lun ng b vi t trng stator nn c gi l
ng c ng b
4.ng dng
Gn y ng c ng b ngy cng ng dng rng ri trong cc ng dng
thc t nh trong cc phng tin giao thng trong cc my cng c nh my nn
kh my nghin v ko tu.... Tn dng kh nng iu chnh trong di tc rng
v kh nng sinh momen ln ng c ng b nam chm chm ang c ng
dng rt mnh trong lnh vc ch to t

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II.H phng trnh c bn ca ng ng b nam chm chm
1.t vn
xy dng , thit k b iu chnh cn phi c m hnh m t chnh xc n
mc ti a i tng cn iu chnh . M hnh ton hc thu c cn phi th hin
r c tnh thi gian ca i tng iu chnh . Tuy nhin m hnh c xy dng
ch yu l phc v cho xy dng cc thut ton iu chnh ch khng phi m
t chnh xc v mt ton hc i tng ng c. iu dn n cc iu kin
c gi thit khi thit lp m hnh . Cc iu kin nhm n gin ha m hnh c
li cho vic thit k sau ny ,mt khc n gy nn sai lch cho php nht nh gia
i tng v m hnh .Sau ny cc sai lch phi c loi tr bng cc phng
php thuc v k thut iu chnh
V phng din ng ng c ng b c m t bi h phng trnh vi phn
bc cao . V cu trc phn b cc cun dy phc tp v mt khng gian , v cc
mch t mc vng ta phi chp nhn cc iu kin sau y khi m hnh ha ng
c
Cc cun dy stator c b tr mt cch i xng v mt khng gian
Cc tn hao st t v bo ha t c th b qua
Cc gi tr in tr v in cm c coi l khng i
2.Cc h phng trnh c bn ca ng c
Phng trnh in p cho 3 cun dy stator ca ng c
U
su
(t)=R
s
i
su
(t) +

U
sv
(t)=R
s
i
sv
(t) +

U
sw
(t) =R
s
i
sw
(t)+

Vi R
s
in tr ca cun dy stator

su,

sv,

sw
t thng stator ca cun dy pha u,v,w
U
su,
U
sv
,U
sw
in p pha u,v,w stator
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n gin ha m hnh ng c dng php chuyn i trc ta a h thng
ba pha t (uvw) sang h ta dq . H ta dq l h ta ta t thng rotor
Ma trn chuyn i
*

] [

]
U
sd
, U
sq
thnh phn d,q ca vector in p stator
l gc gia trc chun (quy c l trc i qua cun dy pha u) v trc rotor

Hnh 4.Biu din vector khng gian trn h ta ta t thng rotor(dq)

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Hnh 5.S d thay th ng c IPM

- Phng trnh in p stator trong h ta dq
U
sd
= R
s
.i
sd
+

-.
q
U
sq
= R
s
.i
sq
+

+.
d
Trong i
sd
, i
sq
thnh phn d,q ca vector dng in stator

d,

q
thnh phn d,q ca vector t thng
- hng trnh t thng

d
= i
sd.
L
sd +

q
= i
sq
. L
sq

f
: t thng ca rotor nam chm vnh cu
Phng trnh mmen
M=

p.(
s
. i
s
)


Phng trnh ng hc
M-M
T
= J

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Trong J Momen qun tnh
M
T
Momen ti
Tc gc rotor

3.M hnh ng c trong h ta ta t thng rotor


Hnh 6. M hnh ng c IPM trong h ta t thng rotor
S dng phng trnh t thng v phng trnh in p ta c th vit li
I
sd
=

((

)
I
sq
=

((

))
Phng trnh momen
M=

)
=

)] (*)

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Nhn xt : Da vo phng trnh (*) ta nhn thy momen quay ca ng c IPM
gm 2 thnh phn ,thnh phn chnh vi M
1
=

v thnh phn phn khng

M
2
=

) do s chnh lch in cm stator (

) gy ra .
di tc nh mc n gin h thng ta c th cho i
sd
= 0. Tuy nhin vi di
tc trn nh mc thu thm c in p iu chnh ta phi gim bin t
thng rotor bng cch bm vo trc d mt thnh phn dng i
sd
<0 . ng c lc
ny c vn hnh ch gim t thng v dng i
sd
s c bin ln tng t l
thun vi tc quay rotor
T cc phng trnh trn ta xy dng c m hnh trong simulink
M hnh Simulink

Hnh 7. S Simulink ng c IPM
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III. Chin lc iu khin
1.Phng php iu khin FOC
Ngy nay cng vi s pht trin mnh m ca nghnh cng nghip vi x l,
in t cng sut th vic p dng cc phng php iu khin phc tp ngy cng
tr nn d dng hn. Mt trong nhng phng php ti u hin nay l phng
php iu khin nh hng t thng (Field orientated control - FOC)
Phng php FOC gm c cc loi sau: iu khin nh hng theo t thng stator
v iu khin nh hng theo t thng rotor. Tuy nhin phng php iu khin
nh hng theo t thng rotor c nhiu u im vt tri: ng dng phng php
vector khng gian ta c th d dng xy dng m hnh ng c v cc phng
trnh trn h ta (dq) ,trit tiu thnh phn t thng rotor trn trc q, cn thnh
phn t thng trn trc d c th xem nh mt i lng mt chiu, cc i lng
dng in in p khi chiu ln hai trc ta d,q cng l thnh phn mt chiu
Vi nhng u im trn trong ti ny em s dng phng php iu khin ng
c ng b nh hng theo t thng rotor

Hnh 8.S cu trc iu khin ta t thng rotor
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Theo s cu trc gm mch vng dng in(gm i
sd
v i
sq
)v tc . Gi tr tc
c o v qua sensor so snh vi gi tr tc t .
Trng hp iu khin di tc c bn gi tr i
sd
*
=0 . Trng hp trn tc c
bn t gi tr momen t tnh c gi tr i
sd
*
v gi tr i
sq
*
.
Vic tnh dng i
sd
*
,i
sq
*
trong ti ny em s dng phng php (M
max
/I
s
)
max

(MTPA-Maximum torque per ampere)

2.Phng php iu khin MTPA









Hnh 9: Qu o dng in vi momen hng cc i t s momen/dng in
iu khin cc i t s momen/dng in dn n tn tht cc tiu trong ng
c iu c ngha l ti u ha hiu sut ca truyn ng.
Phng trnh momen
M=

)] (**)
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Hnh 10. Biu din vector i
s
t

: bin dng in ln nht c cung cp t b nghch lu

Thay vo (**) ta c
M=

]
Lc ny momen l hm ca . Vy ta c th tm t s *

+
max
Cui cng ta c th thit lp c mi quan h gia M* v dng stator tng ng

f(M*);

f(M*)





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IV. Tng hp h thng iu khin ng c nam chm chm ta theo t thng rotor

Hnh 11. S khi cu trc h thng iu khin ng c IPM ta theo t thng
rotor

1.Tng hp b iu khin dng in
Trong trng hp h thng truyn ng c hng s thi gian c hc rt ln
(ln hn bn ln hng s thi gian in t ca phn ng ) . Khi ra coi sc in
ng ca ng c khng nh hng n qu trnh iu chnh ca mch vng dng
in ( coi E=0). Da vo s cu trc ta thy hai b iu chnh dng in R
isd
v
R
isq
hon ton ging nhau v mt cu trc nn ch cn tnh ton thit k cho b iu
chnh dng R
isd

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Hnh 12.Cu trc ca b iu khin dng in

S khi mch vng dng in (i
sd
) c m t nh hnh 12

Hnh 13. S mch vng dng in
Trong s trn
Tcl : hng s thi gian ca mch nghch lu
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Ti : hng s thi gian ca mch o dng in
Kcl : hng s khuch i ca mch nghch lu
Ki : hng s khuch i ca mch o dng in

Khi hm truyn ca i tng iu chnh l

(***)
Trong cc hng s thi gian Tcl,Ti rt nh so vi hng s thi gian in t T
sd
t T
s
= T
cl
+T
i
th cng thc (***) c th vit gn ng nh sau

Theo tiu chun ti ti u modul th hm truyn chun ca mch vng dng in l

Suy ra

Chn Ts=T ta c

)
Ta thy b iu chnh dng in l mt khu PI
Bng cch tng t ta c b iu chnh Risq cng l mt khu PI

)
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Nh vy hm truyn kn ca mch vng iu chnh dng in l

2.Tng hp mch vng iu chnh tc

Hnh 14.Cu trc ca h iu chnh tc

l khu hm truyn ca sensor tc

T phn tng hp mch vng dng in ta c hm truyn

(**)
V hng s thi gian T
s
rt nh ( c 10
-3
-10
-4
) nn n gin ta c th thay th
(**) bng phng php gn ng ca mch vng dng in

Vy hm truyn ca i tng iu chnh l :

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t

= 2T
s
+ T

Khi hm truyn ca i tng c vit li

Suy ra

Trong cc thit b cng ngh hin nay thng yu cu h thng iu chnh v sai
cp cao , do p dng chun ti u i xng ta c hm truyn chun ca mch
vng tc l:

Vy ta c

Chn

= T
s
Suy ra :

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V.M phng trong matlab
1.Trng hp iu khin di tc c bn

Hnh 14: S simulink cu trc iu khin ng c IPM di tc c bn

Sau 1s th khi ng ng c bng cch t step time trong khi step l 1. Sau 3s
ta cho ti tc ng vo kho st c tnh ng hc ca h thng khi c nhiu ti
tc ng. Gi tr t ca tc di tc c bn n*=1150rpm. hn ch dng
s dng khi satulation t trc gi tr t ca dng in
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Hnh 15. Kt qu m phng di tc c bn



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Hnh 16. Kt qu m phng i
sd
di tc c bn

Hnh 17. Kt qu m phng i
sq
di tc c bn
2.Trng hp trn tc c bn


Hnh 17. S simulink cu trc iu khin ng c IPM di tc c bn

Tng t nh trng hp ca di tc c bn sau 1s ta bt u khi ng ng
c bng cch cho step time bng 1s. Sau thi gian 3s th bt u cho ti tc ng.
Gi tr t ca tc n*=1400rpm.Sau y l kt qu m phng
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Hnh 18. Kt qu m phng trn tc c bn

Hnh 19: Kt qu m phng i
sd
trn tc c bn

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Hnh 19: Kt qu m phng i
sq
trn tc c bn

Nhn xt: Khi khi ng dng tng nhanh to ra momen ln . hn ch dng
ta dng khi saturation hn ch dng lc khi ng
T th nhn thy : Thi gian p ng nhanh bm gi tr t .Khi c nhiu ti tc
c gim xung song n nh tr li rt nhanh bm st gi tr t
Kt qu iu khin cho thy thit k b iu khin kh chnh xc
Tuy nhin vn c sai s m hnh nn khi c nhiu ti th gi tr tc b st xung
kh ln . cht lng iu khin c m bo tt hn cn dng b iu khin
theo phng php iu khin tin tin nh logic m







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VI. Ti liu tham kho
[1] Bi Quc Khnh ,Nguyn Vn Lin, Phm Quc Hi, Dng Vn Nghi: iu
chnh t ng truyn ng in.NXB Khoa hc v k thut,1996
[2] Bi Quc Khnh,Nguyn Vn Lin,Nguyn Th Hin: Truyn ng in.NXB
Khoa hc v k thut,1994
[3] Nguyn Phng Quang: Matlab & Simulink dnh cho k s iu khin t ng
.NXB Khoa hc v k thut,2003
[4] Nguyn Phng Quang: iu khin t ng truyn ng in xoay chiu ba
pha .NXB Gio dc,1996